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Humanoid robot

About: Humanoid robot is a research topic. Over the lifetime, 14387 publications have been published within this topic receiving 243674 citations. The topic is also known as: 🤖.


Papers
More filters
Journal Article•DOI•
TL;DR: An experiment to measure how successfully a humanoid robot could dissuade a person from performing a task using verbal refusals and affective displays that conveyed distress demonstrates a significant behavioral effect on task-completion as well as significant effects on subjective metrics.
Abstract: The rise of military drones and other robots deployed in ethically-sensitive contexts has fueled interest in developing autonomous agents that behave ethically. The ability for autonomous agents to independently reason about situational ethics will inevitably lead to confrontations between robots and human operators regarding the morality of issued commands. Ideally, a robot would be able to successfully convince a human operator to abandon a potentially unethical course of action. To investigate this issue, we conducted an experiment to measure how successfully a humanoid robot could dissuade a person from performing a task using verbal refusals and affective displays that conveyed distress. The results demonstrate a significant behavioral effect on task-completion as well as significant effects on subjective metrics such as how comfortable subjects felt ordering the robot to complete the task. We discuss the potential relationship between the level of perceived agency of the robot and the sensitivity of subjects to robotic confrontation. Additionally, the possible ethical pitfalls of utilizing robotic displays of affect to shape human behavior are also discussed.

74 citations

Journal Article•DOI•
TL;DR: This paper gives an overview of the humanoid robot ‘H7’, which was developed over several years as an experimental platform for walking, autonomous behaviour and human interaction research at the University of Tokyo, and describes the overall design goals and methodology.
Abstract: This paper gives an overview of the humanoid robot 'H7', which was developed over several years as an experimental platform for walking, autonomous behaviour and human interaction research at the University of Tokyo. H7 was designed to be a human-sized robot capable of operating autonomously in indoor environments designed for humans. The hardware is relatively simple to operate and conduct research on, particularly with respect to the hierarchical design of its control architecture. We describe the overall design goals and methodology, along with a summary of its online walking capabilities, autonomous vision-based behaviours and automatic motion planning. We show experimental results obtained by implementations running within a simulation environment as well as on the actual robot hardware.

74 citations

Proceedings Article•DOI•
01 Dec 2008
TL;DR: Open-source robot audition software, called ldquoHARKrdquo, which includes sound source localization, separation, and automatic speech recognition (ASR) is presented, which provides real-time processing of noisy/simultaneous speech.
Abstract: Robot capability of listening to several things at once by its own ears, that is, robot audition, is important in improving human-robot interaction. The critical issue in robot audition is real-time processing in noisy environments with high flexibility to support various kinds of robots and hardware configurations. This paper presents open-source robot audition software, called ldquoHARKrdquo, which includes sound source localization, separation, and automatic speech recognition (ASR). Since separated sounds suffer from spectral distortion due to separation, HARK generates a temporal-frequency map of reliability, called ldquomissing feature maskrdquo, for features of separated sounds. Then separated sounds are recognized by the Missing-Feature Theory (MFT) based ASR with missing feature masks. HARK is implemented on the middleware called ldquoFlowDesignerrdquo to share intermediate audio data, which provides real-time processing. HARKpsilas performance in recognition of noisy/simultaneous speech is shown by using three humanoid robots, Honda ASIMO, SIG2 and Robovie with different microphone layouts.

74 citations

Journal Article•DOI•
TL;DR: This research proposes using a three-layer attention-drawing model for humanoid robots that incorporates such gestures and verbal cues as well as selecting an appropriate reference term for distance, based on a quantitative analysis of human behaviour.
Abstract: When describing a physical object, we indicate which object by pointing and using reference terms, such as ‘this’ and ‘that’, to inform the listener quickly of an indicated object's location. Therefore, this research proposes using a three-layer attention-drawing model for humanoid robots that incorporates such gestures and verbal cues. The proposed three-layer model consists of three sub-models: the Reference Term Model (RTM); the Limit Distance Model (LDM); and the Object Property Model (OPM). The RTM selects an appropriate reference term for distance, based on a quantitative analysis of human behaviour. The LDM decides whether to use a property of the object, such as colour, as an additional term for distinguishing the object from its neighbours. The OPM determines which property should be used for this additional reference. Based on this concept, an attention-drawing system was developed for a communication robot named ‘Robovie’, and its effectiveness was tested.

74 citations

Proceedings Article•DOI•
14 May 2012
TL;DR: This work assumes that decisions are only approximately optimal and tries to minimize the extent to which observed decisions violate first-order necessary conditions for optimality, which leads to an efficient method of solution as an unconstrained least-squares problem.
Abstract: Inverse optimal control is the problem of computing a cost function that would have resulted in an observed sequence of decisions The standard formulation of this problem assumes that decisions are optimal and tries to minimize the difference between what was observed and what would have been observed given a candidate cost function We assume instead that decisions are only approximately optimal and try to minimize the extent to which observed decisions violate first-order necessary conditions for optimality For a discrete-time optimal control system with a cost function that is a linear combination of known basis functions, this formulation leads to an efficient method of solution as an unconstrained least-squares problem We apply this approach to both simulated and experimental data to obtain a simple model of human walking trajectories This model might subsequently be used either for control of a humanoid robot or for predicting human motion when moving a robot through crowded areas

74 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
2023253
2022759
2021573
2020647
2019801
2018921