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| Author | Marta Diaz; Dennys Paillacho; Cecilio Angulo | ||||
| Title | Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. | Type | Journal Article | ||
| Year | 2015 | Publication | International Journal of Humanoid Robotics | Abbreviated Journal | |
| Volume | Vol. 12 | Issue | Pages | ||
| Keywords | Group-robot interaction; robotic-guide; social navigation; space management; spatial formations; group walking behavior; crowd behavior | ||||
Abstract  |
This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios. | ||||
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| Publisher | International Journal of Humanoid Robotics | Place of Publication | Editor | ||
| Language | English | Summary Language | English | Original Title | |
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| Notes | Approved | no | |||
| Call Number | cidis @ cidis @ | Serial | 34 | ||
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| Author | Sebastián Fuenzalida; Keyla Toapanta; Jonathan S. Paillacho Corredores; Dennys Paillacho | ||||
| Title | Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction | Type | Conference Article | ||
| Year | 2019 | Publication | IEEE ETCM 2019 Fourth Ecuador Technical Chapters Meeting; Guayaquil, Ecuador | Abbreviated Journal | |
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| Abstract |
This paper presents an analysis of forward and inverse kinematics for a humanoid robotic head. The robotic head is used for the study of social human-robot interaction, such as a support tool to maintain the attention of patients with Autism Spectrum Disorder. The design of a parallel robot that emulates human head movements through a closed structure is presented. The position and orientation in this space is controlled by three servomotors. For this, the solutions made for the kinematic problem are encompassed by a geometric analysis of a mobile base. This article describes a non-systematic method, called the geometric method, and compares some of the most popular existing methods considering reliability and computational cost. The geometric method avoids the use of changing reference systems, and instead uses geometric relationships to directly obtain the position based on joint variables; and the other way around. Therefore, it converges in a few iterations and has a low computational cost. |
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| Notes | Approved | no | |||
| Call Number | gtsi @ user @ | Serial | 113 | ||
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| Author | Jorge Alvarez Tello; Mireya Zapata; Dennys Paillacho | ||||
| Title | Kinematic optimization of a robot head movements for the evaluation of human-robot interaction in social robotics. | Type | Conference Article | ||
| Year | 2019 | Publication | 10th International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences (AHFE 2019), Washington D.C.; United States. Advances in Intelligent Systems and Computing | Abbreviated Journal | |
| Volume | 975 | Issue | Pages | 108-118 | |
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| Abstract |
This paper presents the simplification of the head movements from the analysis of the biomechanical parameters of the head and neck at the mechanical and structural level through CAD modeling and construction with additive printing in ABS/PLA to implement non-verbal communication strategies and establish behavior patterns in the social interaction. This is using in the denominated MASHI (Multipurpose Assistant robot for Social Human-robot Interaction) experimental robotic telepresence platform, implemented by a display with a fish-eye camera along with the mechanical mechanism, which permits 4 degrees of freedom (DoF). In the development of mathematicalmechanical modeling for the kinematics codification that governs the robot and the autonomy of movement, we have the Pitch, Roll, and Yaw movements, and the combination of all of them to establish an active communication through telepresence. For the computational implementation, it will be show the rotational matrix to describe the movement. |
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| Notes | Approved | yes | |||
| Call Number | gtsi @ user @ | Serial | 108 | ||
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