Adaptive Face Recognition for Low-Cost, Embedded Human-Robot Interaction

2013 ◽  
pp. 863-872 ◽  
Author(s):  
Yan Zhang ◽  
Kenneth Hornfeck ◽  
Kiju Lee
Keyword(s):  
Face Recognition ◽  
Low Cost ◽  
Human Robot Interaction ◽  
Robot Interaction

scholarly journals FaceBots: Steps Towards Enhanced Long-Term Human-Robot Interaction by Utilizing and Publishing Online Social Information

2010 ◽  
Vol 1 (3) ◽  
Author(s):  
Nikolaos Mavridis ◽  
Michael Petychakis ◽  
Alexandros Tsamakos ◽  
Panos Toulis ◽  
Shervin Emami ◽  
...  
Keyword(s):  
Face Recognition ◽  
Social Information ◽  
Human Robot Interaction ◽  
Social Web ◽  
Online Information ◽  
Robot Interaction ◽  
Evaluation Methodologies ◽  
Episodic Memories ◽  
Early Interaction

AbstractThe overarching goal of the FaceBots project is to support the achievement of sustainable long-term human-robot relationships through the creation of robots with face recognition and natural language capabilities, which exploit and publish online information, and especially social information available on Facebook, and which achieve two significant novelties. The underlying experimental hypothesis is that such relationships can be significantly enhanced if the human and the robot are gradually creating a pool of episodic memories that they can co-refer to (“shared memories”), and if they are both embedded in a social web of other humans and robots they mutually know (“shared friends”). We present a description of system architecture, as well as important concrete results regarding face recognition and transferability of training, with training and testing sets coming from either one or a combination of two sources: an onboard camera which can provide sequences of images, as well as facebook-derived photos. Furthermore, early interaction-related results are presented, and evaluation methodologies as well as interesting extensions are discussed.

Kalman filter-based yaw angle estimation by fusing inertial and magnetic sensing: a case study using low cost sensors

Sensor Review ◽  
2015 ◽  
Vol 35 (3) ◽  
pp. 244-250 ◽  
Author(s):  
Pedro Neto ◽  
Nuno Mendes ◽  
A. Paulo Moreira
Keyword(s):  
Kalman Filter ◽  
Inertial Sensor ◽  
Low Cost ◽  
Human Robot Interaction ◽  
Magnetic Sensor ◽  
Robot Interaction ◽  
Magnetic Sensing ◽  
Content Type ◽  
Reliable Estimation ◽  
Yaw Angle

Purpose – The purpose of this paper is to achieve reliable estimation of yaw angles by fusing data from low-cost inertial and magnetic sensing. Design/methodology/approach – In this paper, yaw angle is estimated by fusing inertial and magnetic sensing from a digital compass and a gyroscope, respectively. A Kalman filter estimates the error produced by the gyroscope. Findings – Drift effect produced by the gyroscope is significantly reduced and, at the same time, the system has the ability to react quickly to orientation changes. The system combines the best of each sensor, the stability of the magnetic sensor and the fast response of the inertial sensor. Research limitations/implications – The system does not present a stable behavior in the presence of large vibrations. Considerable calibration efforts are needed. Practical implications – Today, most of human–robot interaction technologies need to have the ability to estimate orientation, especially yaw angle, from small-sized and low-cost sensors. Originality/value – Existing methods for inertial and magnetic sensor fusion are combined to achieve reliable estimation of yaw angle. Experimental tests in a human–robot interaction scenario show the performance of the system.

scholarly journals Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction

2021 ◽  
Vol 8 ◽  
Author(s):  
Hua Minh Tuan ◽  
Filippo Sanfilippo ◽  
Nguyen Vinh Hao
Keyword(s):  
Control Algorithm ◽  
Position Control ◽  
Low Cost ◽  
Dynamic Environment ◽  
Human Robot Interaction ◽  
Robot Arm ◽  
Control Loop ◽  
Robot Interaction ◽  
Elastic Joint ◽  
Elastic Joints

Collaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space. They gradually become noticeable nowadays. Compliant actuators are very relevant for the design of cobots. This type of actuation scheme mitigates the damage caused by unexpected collision. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. However, most of the available elastic robots are relatively costly or difficult to construct. To give researchers a solution that is inexpensive, easily customisable, and fast to fabricate, a newly-designed low-cost, and open-source design of an elastic joint is presented in this work. Based on the newly design elastic joint, a highly-compliant multi-purpose 2-DOF robot arm for safe human-robot interaction is also introduced. The mechanical design of the robot and a position control algorithm are presented. The mechanical prototype is 3D-printed. The control algorithm is a two loops control scheme. In particular, the inner control loop is designed as a model reference adaptive controller (MRAC) to deal with uncertainties in the system parameters, while the outer control loop utilises a fuzzy proportional-integral controller to reduce the effect of external disturbances on the load. The control algorithm is first validated in simulation. Then the effectiveness of the controller is also proven by experiments on the mechanical prototype.

Enabling Low-Cost Full Surface Tactile Skin for Human Robot Interaction

2022 ◽  
pp. 1-1
Author(s):  
Xiaoran Fan ◽  
Daewon Lee ◽  
Lawrence Jackel ◽  
Richard Howard ◽  
Daniel Lee ◽  
...  
Keyword(s):  
Low Cost ◽  
Human Robot Interaction ◽  
Robot Interaction

scholarly journals KASPAR – A Minimally Expressive Humanoid Robot for Human–Robot Interaction Research

2009 ◽  
Vol 6 (3-4) ◽  
pp. 369-397 ◽  
Author(s):  
Kerstin Dautenhahn ◽  
Chrystopher L. Nehaniv ◽  
Michael L. Walters ◽  
Ben Robins ◽  
Hatice Kose-Bagci ◽  
...  
Keyword(s):  
Social Interaction ◽  
Low Cost ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Developmental Robotics ◽  
Robot Interaction ◽  
Interaction Studies ◽  
Technical Features ◽  
Novel Design

This paper provides a comprehensive introduction to the design of the minimally expressive robot KASPAR, which is particularly suitable for human–robot interaction studies. A low-cost design with off-the-shelf components has been used in a novel design inspired from a multi-disciplinary viewpoint, including comics design and Japanese Noh theatre. The design rationale of the robot and its technical features are described in detail. Three research studies will be presented that have been using KASPAR extensively. Firstly, we present its application in robot-assisted play and therapy for children with autism. Secondly, we illustrate its use in human–robot interaction studies investigating the role of interaction kinesics and gestures. Lastly, we describe a study in the field of developmental robotics into computational architectures based on interaction histories for robot ontogeny. The three areas differ in the way as to how the robot is being operated and its role in social interaction scenarios. Each will be introduced briefly and examples of the results will be presented. Reflections on the specific design features of KASPAR that were important in these studies and lessons learnt from these studies concerning the design of humanoid robots for social interaction will also be discussed. An assessment of the robot in terms of utility of the design for human–robot interaction experiments concludes the paper.

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