Humanoid Interaction Approach: Exploring Meaningful Order in Complex Interactions

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ABSTRACT This paper presents

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    ABSTRACT: In this paper, we take the view that human-like response can only emerge through a richly integrated humanoid system. By taking such a view, we have confined ourselves in the pursuit of developing a richly integrated humanoid system. We present a humanoid system — an upper body humanoid robot — with active real-time stereo vision, an auditory system for spatial hearing, and proprioceptive systems, with a high performance motor control system.The context in which we wish to establish our research is in the context of continuous humanoid interaction. Interaction with the environment, as well as interaction with people, all form part of this establishment. We present our approach to the problem of interacting with a continuum of multiple stimuli, while producing meaningful responses. We will show by using a relatively simple mechanism for integration, it is still possible to realise a vastly responsive system. Hence, providing a system that is adaptable through redundancy, and flexible for integration.Our presentation includes a new humanoid robot system currently being developed for complex continuous interaction. An example of our humanoid robot in continuous interaction is presented. The system is able to track a person by sight in an unmodified environment, perform real-time mimicking of the upper body motion of the person, track a sound source (spatial orientation), and physical handling of the system in a compliant manner is also allowed. Each of the sub-systems of our humanoid is also introduced, with experimental results of each presented.
    Robotics and Autonomous Systems 01/2001; · 1.16 Impact Factor
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    ABSTRACT: Human interaction involves a number of factors. One key and noticeable factor is the mass perceptual problem. Humans are equipped with a large number of receptors, equipped for seeing, hearing and touching, to name just a few. These stimuli bombard us continuously, often not on a singular basis. Typically multiple stimuli are activated at once, and in responding to these stimuli, variations of responses are exhibited. The current aim of our project is to provide an architecture, that will enable a humanoid robot to yield meaningful responses to complex and continuous interactions, similar to that of humans. We present our humanoid, a system which is able to simultaneously detect the spatial orientation of a sound source, and is also able to detect and mimic the motion of the upper body of a person. The motion produced by our system is human like-ballistic motion. The focus of the paper is on how we have come about the integration of these components. A continuous interactive experiment is presented in demonstrating our initial effort. The demonstration is in the context of our humanoid interacting with a person. Through the use of spatial hearing and multiple visual cues, the system is able to track a person, while mimicking the persons upper body motion. The system has shown to be robust and tolerable to failure, in performing experiments for a long duration of time
    Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on; 02/2000
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    ABSTRACT: We propose to investigate the foundations of communication and symbolic behavior by means or a robotics approach, i.e. by studying how these behaviors might emerge from the physical dynamics of an agent and its sensory-motor interactions with the real world. In this perspective, the human-robot interface problem can be viewed as one of coupling the interaction dynamics of all agents. Through a number of case studies we will show that within this interaction dynamics there is sparse global structure, i.e. a structure that can be characterized by only a small number of points in phase space, and that it is best to interact with the agent, i.e. interfere with its dynamics, at these points. We introduce a humanoid robot with the capability for dynamic full-body movement. The preliminary results of two experiments, sitting and standing up, are presented. Lastly, experiments with self exploratory learning of embodiment and visual motor learning of neonatal imitation abilities are introduced.
    Ad-Hoc, Mobile, and Wireless Networks, Second International Conference, ADHOC-NOW 2003 Montreal, Canada, October 8-10, 2003, Proceedings; 01/2003

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