http://www.robot-at-cwe.eu Publications of the consortium daily 1 2008-01-14T06:22:28Z http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009h No publisher aweiss 2009-10-13T07:05:13Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/miscreference.2009-10-13.0021530768 Abstract— This workshop will discuss possible methodological approaches for evaluating social acceptance and societal impact of Human Robot Interaction (HRI) with a special focus on collaborative working environments. Based also on the experiences gained in the project ROBOT@CWE - Advanced robotic systems in future collaborative working environments, the workshop will more specifically focus on existing evaluation techniques regarding human robot collaboration. Pros and cons of existing evaluation methods should be discussed to develop new variations and advancements for assessing social acceptance and societal impact of robotic agents. No publisher aweiss 2009-10-13T07:35:16Z Misc Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/miscreference.2009-10-13.9809496494 This workshop will discuss possible methodological approaches to evaluate social acceptance and societal impact of Human- Robot Interaction (HRI) with a special focus on collabora- tion with robots. This workshop will be held as a follow up to the workshop \Robots as Social Actors: Evaluating Social Acceptance and Societal Impact of Robotic Agents, which was held during IEEE Ro-Man 2008. This time we will intensify the focus on how social acceptance measure- ment approaches can give insights on societal impact and on scenarios of future societies where robots will play an in- tegral part. Pros and cons of existing evaluation methods should be discussed to develop new variations and advance- ments for assessing social acceptance and societal impact of robotic agents \look and feel". No publisher aweiss 2009-10-13T07:31:39Z Misc Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009a No publisher aweiss 2009-10-13T07:41:20Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009c No publisher aweiss 2009-10-13T07:43:19Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009g No publisher aweiss 2009-10-13T07:50:15Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009i No publisher aweiss 2009-10-13T07:50:36Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/plus-publications/weiss2009k No publisher aweiss 2009-10-13T07:50:58Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/uc3m-publications/articlereference.2008-11-26.0675973723 This work deals with the modelling and control of the humanoid robot RH-1, a full scale humanoid prototype totally developed in the University Carlos III of Madrid and the only one existing in our country. The main objective is to develop an advanced control system that allows cooperation tasks to be carried out semi-autonomously between humanoid robots and humans in real working environments. The kinematic model and a simplification of the dynamic model of the robot are presented in this paper, together with a control strategy for the stabilization of the system during the walking and collaborative actions. Several simulation and experimental results are also given along the paper to illustrate the work. No publisher ppierro 2008-11-26T11:40:26Z Article Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/epfl-publications/inproceedingsreference.2008-02-27.0192787417 Bringing robots as collaborative partners into homes presents various challenges to human-robot interaction. Robots will need to interact with untrained users in environments that are originally designed for humans. Compared to their industrial homologous form, humanoid robots can not be preprogrammed with an initial set of behaviours. They should adapt their skills to a huge range of possible tasks without needing to change the environments and tools to fit their needs. The rise of these humanoids implies an inherent social dimension to this technology, where the end-users should be able to teach new skills to these robots in an intuitive manner, relying only on their experience in teaching new skills to other human partners. Our research aims at designing a generic Robot Programming by Demonstration (RPD) framework based on a probabilistic representation of the task constraints, which allows to integrate information from cross-situational statistics and from various social cues such as joint attention or vocal intonation. This paper presents our ongoing research towards bringing user-friendly human-robot teaching systems that would speed up the skill transfer process. No publisher scalinon 2008-08-19T05:30:12Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/cnrs-publications/inproceedingsreference.2008-01-14.8444998088 This paper presents a framework for a visual search behavior of a 3D object in a 3D environment performed by a HRP-2 humanoid robot. The object search falls in the field of sensor planning and is formulated as an optimization problem. The goal is to maximize the target detection probability while minimizing the energy/distance and time to achieve the task. This paper propose some natural constraints based on specificities of the humanoid robot and on the characteristics of the recognition system to reduce the dimension of the problem. The paper presents simulation results of an object search behavior using the HRP-2 robot. No publisher ostasse 2008-01-14T09:16:32Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/cnrs-publications/inproceedingsreference.2008-01-14.1331303301 This paper presents a framework for a visual search behavior of a 3D object in a 3D environment performed by a HRP-2 humanoid robot. The object search falls in the field of sensor planning and is formulated as an optimization problem. The goal is to maximize the target detection proba- bility while minimizing the energy/distance and time to achieve the task. This paper propose some natural constraints based on specificities of the humanoid robot and on the characteristics of the recognition system to reduce the dimension of the problem. It also guides the optimization by restricting the sensor configuration space to meet heavy time constraints on the behavior in order to have a reactive and near human like reaction time. No publisher ostasse 2008-01-14T08:53:22Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/cnrs-publications/inproceedingsreference.2008-01-14.3553931143 This paper presents an object active visual search behavior in a 3D environment performed by a HRP-2 humanoid robot. The search is formalized as an optimization problem in which the goal is to maximize the target detection probability while minimizing the energy/distance and time to achieve the task. Natural constraints on the camera parameter space based on the characteristics of the recognition system are used to reduce the dimension of the problem and to speed up the optimization process to achieve a real time behavior. We present simulation and real experimental results using an HRP-2 robot. No publisher ostasse 2008-01-14T08:48:18Z Inproceedings Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/cnrs-publications/inbookreference.2008-01-14.6191533177 This paper presents a framework for a visual search behavior of a 3D object in a 3D environment performed by a HRP-2 humanoid robot. The object search falls in the field of sensor planning and is formulated as an optimization problem. The goal is to maximize the target detection proba- bility while minimizing the energy/distance and time to achieve the task. This paper propose some natural constraints based on specificities of the humanoid robot and on the characteristics of the recognition system to reduce the dimension of the problem. The paper presents simulation results of an object search behavior using the HRP-2 robot. No publisher ostasse 2008-01-14T09:15:27Z Inbook Reference http://www.robot-at-cwe.eu/deliverables-repository/publications/cnrs-publications/inproceedingsreference.2008-01-14.0985924379 In this paper, we apply a general framework for building complex whole-body control for highly redundant robot, and we propose to implement it for visually-guided grasping while walking on a humanoid robot. The key idea is to divide the control into several sensor-based control tasks that are simultaneously executed by a general structure called stack of tasks. This structure enables a very simple access for task sequencing, and can be used for task-level control. This framework was applied for a visual servoing task. The robot walks along a planed path, keeping the specified object in the middle of its field of view and finally, when it is close enough, the robot grasps the object while walking . No publisher ostasse 2008-01-14T08:47:38Z Inproceedings Reference