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Author (up) Marta Diaz; Dennys Paillacho; Cecilio Angulo pdf  openurl
  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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  Call Number cidis @ cidis @ Serial 34  
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Author (up) Sebastián Fuenzalida; Keyla Toapanta; Jonathan S. Paillacho Corredores; Dennys Paillacho pdf  openurl
  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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  Call Number gtsi @ user @ Serial 113  
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Author (up) Steven Silva, Dennys Paillacho., David Soque, María Guerra & Jonathan Paillacho url  openurl
  Title Autonomous Intelligent Navigation For Mobile Robots In Closed Environments. Type Conference Article
  Year 2021 Publication The 2nd International Conference on Applied Technologies (ICAT 2020), diciembre 2-4. Communications in Computer and Information Science Abbreviated Journal  
  Volume 1388 Issue Pages 391-402  
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  Call Number cidis @ cidis @ Serial 187  
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Author (up) Steven Silva, Nervo Verdezoto, Dennys Paillacho, Samuel Millan-Norman & Juan David Hernandez pdf  isbn
openurl 
  Title Online Social Robot Navigation in Indoor, Large and Crowded Environments. Type Conference Article
  Year 2023 Publication IEEE International Conference on Robotics and Automation (ICRA 2023) Londres, 29 may 2023 – 2 jun 2023 Abbreviated Journal  
  Volume 2023-May Issue Pages 9749 - 9756  
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  ISSN 10504729 ISBN 979-835032365-8 Medium  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 206  
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