Adriana Tapus

MINES ParisTech | ParisTech · ENSTA ParisTech

A key question in transportation research is whether drivers show behavioral adaptation, that is, slower or faster driving, when new technology is introduced into the vehicle. This study investigates behavioral adaptation in response to the sport mode, a technology that alters the vehicle's auditory, throttle-mapping, power-steering, and chassis se...

A key question in transportation research is whether drivers show behavioral adaptation, that is, slower or faster driving, when new technology is introduced into the vehicle. This study investigates behavioral adaptation in response to the sport mode, a technology that alters the vehicle’s auditory, throttle-mapping, power-steering, and chassis se...

Purpose Many work conditions require manipulators to open cabinet doors and then gain access to the desired workspace. However, after opening, the unlocked doors can easily close, interrupt a task and potentially break the operating end-effectors. This paper aims to address a manipulator's behavior planning problem for responding to a dynamic works...

Telemanipulation in power stations commonly require robots first to open doors and then gain access to a new workspace. However, the opened doors can easily close by disturbances, interrupt the operations, and potentially lead to collision damages. Although existing telemanipulation is a highly efficient master–slave work pattern due to human-in-th...

Current predictors of fuel consumption are typically based on computer simulations or data collections in real traffic, where the route and vehicle type are not under the researcher’s control. Here, we predicted fuel consumption using test track data, an approach that allowed for location-specific predictions. Ninety-one drivers drove a total of 46...

Creating a convincing affective robot behavior is a challenging task. In this paper, we are trying to coordinate between different modalities of communication: speech, facial expressions, and gestures to make the robot interact with human users in an expressive manner. The proposed system employs videos to induce target emotions in the participants...

Current predictors of fuel consumption are typically based on computer simulations or data collections in real traffic, where the route and vehicle type are not under the researcher’s control. Here, we predicted fuel consumption using test track data, an approach that allowed for location-specific predictions. Ninety-one drivers drove a total of 46...

The human gestures occur spontaneously and usually they are aligned with speech, which leads to a natural and expressive interaction. Speech-driven gesture generation is important in order to enable a social robot to exhibit social cues and conduct a successful human-robot interaction. In this paper, the generation process involves mapping acoustic...

Recent technological advances enabled modern robots to become part of our daily life. In particular, assistive robotics emerged as an exciting research topic that can provide solutions to improve the quality of life of elderly and vulnerable people. This paper introduces the robotic platform developed in the ENRICHME project, with particular focus...

As we are heading towards autonomous vehicles, additional driver assistance systems are being added. The vehicle motion is automated step by step to ensure passengers' safety and comfort, while still preserving vehicle performance. However, simultaneous activations of concurrent systems may conflict, and non-suitable behavior may emerge. Our resear...

Research related to regulatory focus theory has shown that the way in which a message is conveyed can increase the effectiveness of the message. While different research fields have used this theory, in human-robot interaction (HRI), no real attention has been given to this theory. In this paper, we investigate it in an in the wild scenario. More s...

This paper presents an exploratory study designed for children with Autism Spectrum Disorders (ASD) that investigates children's awareness of being imitated by a robot in a play/game scenario. The Nao robot imitates all the arm movement behaviors of the child in real-time in dyadic and triadic interactions. Different behavioral criteria (i.e., eye...

Imitation plays an important role in development, being one of the precursors of social cognition. Even though some children with autism imitate spontaneously and other children with autism can learn to imitate, the dynamics of imitation is affected in the large majority of cases. Existing studies from the literature suggest that robots can be used...

Human emotion detection is an important aspect in social robotics and HRI. In this paper, we propose a vision-based multimodal emotion recognition method based on gait data and facial thermal images designed for social robots. Our method can detect 4 human emotional states (i.e., neutral, happiness, anger, and sadness). We gathered data from 25 par...

Robotic systems are becoming more safety critical systems as they are deployed in unstructured human-centered environments. These software intensive systems are composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no systematic software development process is followed in robotic...

Several modern vehicles provide the driver with the option to select a driving mode that affects the vehicle's dynamic behaviour, a functionality that uses several active components. A considerable body of literature exists on the behaviour of these active components. However, no empirical studies investigate how active components are affected by d...

Interaction plays a critical role in skills learning for natural communication. In human-robot interaction (HRI), robots can get feedback during the interaction to improve their social abilities. In this context, we propose an interactive robot learning framework using multimodal data from thermal facial images and human gait data for online emotio...

Our previous work in detecting deception in HRI was based on research findings from the psychology of inter-human interactions. Nonetheless, these conclusions may or may not be directly applied in HRI, as humans may not behave similarly when deceiving a robot. This paper studies the differences between human physiological manifestations during a de...

Most of today's passenger cars are over-actuated. This over-actuation is expected to grow going towards self-driving cars. However, the necessary systems that would be needed for a safe and a comfortable autonomous driving remain uncertain. This paper aims to provide an extensible control architecture that does not depend on a particular system com...

Interaction plays a critical role in skills learning for natural communication. In human-robot interaction (HRI), robots can get feedback during the interaction to improve their social abilities. In this context, we propose an interactive robot learning framework using mul-timodal data from thermal facial images and human gait data for online emoti...

The articles in this special section focuses on the use of socially assistive robots for use in the healthcare industry. Due to the serious shortage of healthcare professionals, socially assistive robots are proving themselves a viable complementary tool to address this demand. Motivated by these concerns and the benefits of using robotic systems t...

Many challenges still need to be overcome in the context of autonomous vehicles. These vehicles would be over-actuated and are expected to perform coupled maneuvers. In this paper, we first discuss the development of a global coupled vehicle model, and then we outline the control strategy that we believe should be applied in the context of over-act...

For more socially natural interactions between robots and humans there is a need for the robots to detect and understand the current internal state of the individuals they interact with. In this paper, we investigate the impact of personality, user sensory profile, and morningness–eveningness type of an individual on the variation of different phys...

One of the main concerns of automotive industry is autonomous vehicles. Not only equipment suppliers but also new entering actors are racing to develop safer automotive systems. Consequently, the car manufacturer has to integrate different systems to control the same vehicle. This paper discusses the different architectures adopted to handle chassi...

This paper investigates the relationship between different physiological parameters and three tasks performed by an elderly individual in a 5-days interaction scenario. The physiological parameters investigated are: the galvanic skin response, the facial temperature variation, the heart rate, and the respiration rate. The three tasks were the same...

Most of automotive researches are focused on autonomous vehicles. Both industrials and academics are working on several changes, and the way to coordinate the increasing number of chassis systems is one among them. This paper proposes a more suitable control architecture for autonomous vehicles complexity. This architecture is based on control allo...

I got the "Best Poster Prize" in "Journee de L'ED Interfaces", where all second-year Ph.D students from 4 universities (École Polytechnique, ENSTA-ParisTech, Centrale Supélec and UVSQ - Université de Versailles Saint-Quentin-en-Yvelines ) and about 3 majors (Information and Computer Science, Biology and Chemistry) joined the poster part. Human emo...

Autonomous vehicles are round the corner. Most of car manufacturers are racing to become a leader in this promising market. In this paper, we focus on one of the remaining challenges to be overcome, namely, the control of vehicle motion when friction varies. Researchers tend to estimate the friction coefficient using complex observers based on simp...

Redundancy of integrated systems has always been used in order to increase vehicle's safety. Some new technologies are however too expensive to be redundant. This paper proposes a new way to preserve the safety by enabling a kind of complementarity between different chassis systems. Optimization-based control allocation redistribution algorithms ar...

Vehicle motion control has many challenges to overcome. One of the main problems is robustness against not only environmental changes but also uncertainties about the vehicle itself. This paper focuses on this problem using robust control design at the control architecture's high level. Researches tend to decentralize the control to treat longitudi...

Most of today's vehicles are over-actuated. Active researches are carried out to find satisfactory chassis systems coordination strategies. Regarding autonomous vehicles, other qualitative objectives such as comfort and confidence feelings should also be ensured. This paper shows how to take into account different constraints at the same time in a...

Emotion detection is very important for humanrobot interaction (HRI) in social contexts. In this paper, we use both RGB-D and thermal images to get gait and facial thermal data. The joint angle features from the gait data and the facial regions features are used to help the robot understand the human emotions i.e., neutral, happy, angry and sad sta...

Most of automotive researches focus on autonomous vehicles. Studies regarding trajectory planning and trajectory tracking became preponderant. As in case of commercial ground vehicles there is a driver in the loop, one should raise the important question of how the trajectory should be tracked. In this paper, we investigate the influence of control...

Social robots need to understand human activities, dynamics, and the intentions behind their behaviors. Most of the time, this implies the modeling of the whole scene. The recognition of the activities and intentions of a person are inferred from the perception of the individual, but also from their interactions with the rest of the environment (i....

For a greater acceptance of robots in home-like environments, there is a great need to adapt the behaviors of the robots to the profiles of the individuals they interact with. In this paper, we investigate the impact of the sensory profile of an individual over the robot styles of interaction displayed by a humanoid robot in a non-verbal word-color...

The presence of a robot in our everyday life can generate both positive and negative effects on us. While performing a difficult task, the presence of a robot can generate a negative effect on the performance and it can also increase the stress and anxiety levels. In order to minimize these undesired effects, we propose the use of user’s motivation...

The EU H2020 ENRICHME project is aimed at developing a socially assistive robot that can adapt its behavior based on the profile of the individual it interacts with. In this paper, we investigate how the ENRICHME project web-based News Application can be adapted based on the sensory profile and personality of the individual. The interaction between...

Robots have increasingly been used for improving the quality of life of people with special needs, such as elderly, people suffering from Mild Cognitive Impairment (MCI), and people with different physical and cognitive abilities. In this paper, we propose a method for extracting and analyzing physiological data by using contactless sensors (i.e.,...

Proceedings of the Full Day Workshop, in Conjunction with IEEE Ro-Man 2017 in Portugal - We propose an institutional robotics approachto the design of socially-aware multi-robot systems, wherecooperation among the robots and their social interactions withhumans are guided using institutions. Inspired by the conceptsstemming from economical science...

With the development of socially interacting machines, it is important to understand how people react depending on their emotional state. Research in this area require emotion elicitation devices. This paper presents such a tool using virtual reality (VR), that merges classical elicitation techniques to emphasize emotional response. The design choi...

Today's vehicles use coordination strategies downstream their subsystems to avoid conflicts. This is possible as far as a very limited number of integrated subsystems is concerned. This paper discusses the potential of this approach and proposes an eventual substitute. A brief review is given to speculate about the architectures' compatibility with...

To effectively collaborate with people, robots are expected to detect and profile the users they are interacting with, but also to modify and adapt their behavior according to the learned models. The goal of this survey is to focus on the perspective of user profiling and behavioral adaptation. On the one hand, human-robot interaction requires a hu...

In order to promote reuse of software in robotics, standardization, benchmarking, and formalization activities in robotics are being undertaken by many technical working groups and independent agencies. Absence of integrated tools is the real barrier that exists between early adopters of such efforts and early majority of research and industrial co...

Abstract: In this paper, we presented a method to define individual profiles in order to develop a new personalized robot -based social interaction for individual with Autistic Spectrum Disorder (ASD) with the hypothesis that hyporeactivity to visual motion and an overreliance on proprioceptive information would be linked to difficulties in integra...

Imitation is of major importance during social interactions, would it be between humans or between a human and a robot. This is even more true when considering users with special needs. In this paper, we describe an experimental imitation task protocol using a robot Nao that we designed to assess whether sensory profiles of children with Autistic S...

Our work aims at developing a behavioral model enabling customized and natural interaction between a robot and an elderly individual in the context of the EU H2020 ENRICHME Project - Grant Agreement 643691. The main idea of the project is to make the robot able to learn from past experiences and to adapt its behavior to the profile (i.e., personali...

This workshop aims at advancing the topic of the relationships between robotics science and experiments in HRI. The full-day workshop follows on previous events in interdisciplinary venues focusing on efforts to establish reproducible, standardized experiments in order to adequately benchmark and evaluate human-robot interaction, scientific achieve...

We design a personalized human-robot environment for social learning for individuals with autism spectrum disorders (ASD). In order to define an individual’s profile, we posit that the individual’s reliance on proprioceptive and kinematic visual cues should affect the way the individual suffering from ASD interacts with a social agent (human/robot/...

There is a growing need worldwide in new technologies to assist elderly individuals in their daily lives, especially those that suffer from mild cognitive impairment (MCI). Autonomous robots have been suggested and already tested for this task in multiple contexts, such as hospitals and retirement homes. Humanoid robots, with their advanced sensing...

Conference of 17th International Conference on Intelligent Virtual Agents, IVA 2017 ; Conference Date: 27 August 2017 Through 30 August 2017; Conference Code:197079

One of the main purposes of companion robots is to use them to remind their users about the tasks they have to do. The interaction requires robots to adapt to the person with respect to their preferences. The performance of the human when a robot reminds them to do a certain task is of great importance. Findings in social psychology show that perso...

In Human-Robot Interaction (HRI), an important quantity of work has been done to investigate the reaction of people toward expressive robots. However, the large variability of available expression modalities (e.g., gaze, gestures, speech modulation) can make comparison between results difficult. We believe that developing a common taxonomy to descr...

The main purpose of the ENRICHME European project is to develop a socially assistive robot that can help the elderly, adapt to their needs, and has a natural behavior. In this paper, we present some of the lessons learnt from the first interaction between the robot and two elderly people from one partner care facility (LACE Housing Ltd, UK). The ro...