Alle Publikationen
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2016
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(2016) : Robot reading human gaze: Why eye tracking is better than head tracking for human-robot collaboration: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Daejeon, South Korea: IEEE Robotics & Automation Society, S. 5048-5054
DOI: https://doi.org/10.1109/IROS.2016.7759741 Abstract: Robots are at the position to become our everyday companions in the near future. Still, many hurdles need to be cleared to achieve this goal. One of them is the fact that robots are still not able to perceive some important communication cues naturally used by humans, e.g. gaze. In the recent past, eye gaze in robot perception was substituted by its proxy, head orientation. Such an approach is still adopted in many applications today. In this paper we introduce performance improvements to an eye tracking system we previously developed and use it to explore if this approximation is appropriate. More precisely, we compare the impact of the use of eye- or head-based gaze estimation in a human robot interaction experiment with the iCub robot and naïve subjects. We find that the possibility to exploit the richer information carried by eye gaze has a significant impact on the interaction. As a result, our eye tracking system allows for a more efficient human-robot collaboration than a comparable head tracking approach, according to both quantitative measures and subjective evaluation by the human participants.
Keywords: Angemessen(heit) (von Technik), Cameras, communication cues, EYE GAZE, eye tracking system, eye-based gaze estimation, gaze tracking, Head, head orientation, head tracking, head-based gaze estimation, Human robot interaction, Humanoid Robots, human-robot collaboration, human-robot interaction, iCub robot, ieee xplore, Magnetic heads, performance improvements, pose estimation, quantitative measures, robot human gaze reading, Robot kinematics, robot perception, robot proxy, robot vision, Visualization 2014
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(2014) : How to train your robot - teaching service robots to reproduce human social behavior: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 961-968
DOI: https://doi.org/10.1109/ROMAN.2014.6926377 Abstract: Developing interactive behaviors for social robots presents a number of challenges. It is difficult to interpret the meaning of the details of people’s behavior, particularly non-verbal behavior like body positioning, but yet a social robot needs to be contingent to such subtle behaviors. It needs to generate utterances and non-verbal behavior with good timing and coordination. The rules for such behavior are often based on implicit knowledge and thus difficult for a designer to describe or program explicitly. We propose to teach such behaviors to a robot with a learning-by-demonstration approach, using recorded human-human interaction data to identify both the behaviors the robot should perform and the social cues it should respond to. In this study, we present a fully unsupervised approach that uses abstraction and clustering to identify behavior elements and joint interaction states, which are used in a variable-length Markov model predictor to generate socially-appropriate behavior commands for a robot. The proposed technique provides encouraging results despite high amounts of sensor noise, especially in speech recognition. We demonstrate our system with a robot in a shopping scenario.
Keywords: abstraction, Angemessen(heit) (von Technik), Cameras, clustering, human social behavior reproduction, human-human interaction data, human-robot interaction, ieee xplore, Joints, learning by example, learning-by-demonstration approach, Markov processes, pattern clustering, Robot sensing systems, robot training, service robot, service robot teaching, shopping scenario, socially-appropriate behavior command generation, speech, speech recognition, Trajectory, unsupervised approach, unsupervised learning, variable-length Markov model predictor 2013
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(2013) : Accompany: Acceptable robotiCs COMPanions for AgeiNG Years — Multidimensional aspects of human-system interactions: 2013 6th International Conference on Human System Interactions (HSI): Sopot, Poland: IEEE, S. 570-577
DOI: https://doi.org/10.1109/HSI.2013.6577882 Abstract: With changes in life expectancy across the world, technologies enhancing well-being of individuals, specifically for older people, are subject to a new stream of research and development. In this paper we present the ACCOMPANY project, a pan-European project which focuses on home companion technologies. The projects aims to progress beyond the state of the art in multiple areas such as empathic and social human-robot interaction, robot learning and memory visualisation, monitoring persons and chores at home, and technological integration of these multiple approaches on an existing robotic platform, Care-O-Bot®3 and in the context of a smart-home environment utilising a multitude of sensor arrays. The resulting prototype from integrating these developments undergoes multiple formative cycles and a summative evaluation cycle towards identifying acceptable behaviours and roles for the robot for example role as a butler or a trainer. Furthermore, the evaluation activities will use an evaluation grid in order to assess achievement of the identified user requirements, formulated in form of distinct scenarios. Finally, the project considers ethical concerns and by highlighting principles such as autonomy, independence, enablement, safety and privacy, it embarks on providing a discussion medium where user views on these principles and the existing tension between some of these principles for example tension between privacy and autonomy over safety, can be captured and considered in design cycles and throughout project developments.
Keywords: acceptable robotics companions for ageing years, ACCOMPANY project, assisted living, autonomy principle, Cameras, Care-O-BotR®3, chore monitoring, Context, design cycles, empathic human-robot interaction, enablement principle, ethical aspects, ethical concerns, home companion technologies, human-robot interaction, human-system interactions, ieee xplore, independence principle, individual well-being enhancement, Life Expectancy, memory visualisation, Moral & Ethik, pan-European project, person monitoring, privacy principle, project developments, Robot kinematics, robot learning, Robot vision systems, robotic platform, safety principle, Senior citizens, sensor arrays, service robot, smart-home environment, social aspects of automation, social human-robot interaction, summative evaluation cycle 2011
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(2011) : I'll keep an eye on you: Home robot companion for elderly people with cognitive impairment: IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011: 9-12 Oct. 2011, Anchorage, Alaska, USA ; conference proceedings ; [including workshop papers]: EEE International Conference on Systems, Man and Cybernetics (IEEE SMC); Annual Workshop on Brain-Machine Interfaces; Workshop on Robust Machine Learning Technologies for Human Activity Detection Using Body-Worn Sensors: 2011 IEEE International Conference on Systems, Man and Cybernetics - SMC: Anchorage, AK, USA: 10/9/2011 - 10/12/2011: Piscataway, NJ: IEEE, S. 2481-2488
Abstract: The paper gives an overview of the progress in developing a socially assistive home robot companion for elderly people with mild cognitive impairment (MCI) living alone at home. The spectrum of required assistive functionalities of such a robot companion is broad and reaches from reminding functions (e.g. taking medication or drinking) and cognitive stimulation exercises, via mobile videophony with relatives or caregivers, up to the detection and evaluation of critical situations, like falls. The paper is addressing several aspects of our work as part of the European FP7 project “CompanionAble”, as for example the developed robot hardware and its software and control architecture, the implemented skills for robust user detection and tracking and user-centered navigation in the home environment, and reports on already conducted and still ongoing functionality testings and pending usability studies with the end-user target groups (the elderly, relatives, caregivers).
Keywords: Alltag, assistive robotics, Cameras, cognitive stimulation exercise, CompanionAble project, CONTROL ARCHITECTURE, elderly people, Gesundheit, handicapped aids, home automation, ieee xplore, mild cognitive impairment, Mobile robots, mobile videophony, Navigation, robot control architecture, Robot kinematics, Robot navigation, Robot vision systems, robust user detection, socially assistive robot companion, Software, user observation, user-centered navigation, videotelephony
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