Article

Humanoid Interaction Approach: Exploring Meaningful Order in Complex Interactions

02/2000;
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Available from: Yasuo Kuniyoshi, Aug 16, 2015
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    • "Other parts of the body are still under construction. For a detailed discussion of the whole system see [8] and [9]. Motor control and sensor processing is currently performed via a set of six PCs connected to our humanoid. "
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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
    Full-text · Conference Paper · Feb 2000
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    ABSTRACT: This paper presents our approach towards a humanoid vision system which realizes real human interaction in a real environment. Requirements for visual functions are extracted from a past work on human action recognition system. Then, our recent development of biologically inspired vision systems for human interaction is presented as case studies on how to choose and exploit biological models, mix them with engineering solutions, and realize an integrated robotic system which works in real time in a real environment to support human interaction. A binocular active vision system with foveated wide angle lenses, a real time tracking using velocity and disparity cues, a real-time multi-feature attentional system, and a human motion mimicking experiment using a humanoid robot are presented.
    No preview · Chapter · Dec 1999
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