Autonomous view selection and gaze stabilization for humanoid robots

Grotz, Markus; Habra, Timothee; Ronsse, Renaud; Asfour, Tamim

doi:10.1109/iros.2017.8205944

Cited by 9 publications

(7 citation statements)

References 25 publications

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“…The work of Wolfe ( 1994 ), studying how to determine relevant areas in images, inspired these approaches. This concept of salience is addressed in a multitude of works (Itti et al, 1998 ; Harel et al, 2006 ; Hou and Zhang, 2007 ; Goferman et al, 2012 ; Grotz et al, 2017 ), although most focus on which parts of the image are relevant, without spatial information beyond the image. The salience-based approach was previously explored by the authors of this paper, as described in Garcıa et al ( 2010 ), and is still present in the current proposal.…”

Section: State Of the Artmentioning

confidence: 99%

Client-Server Approach for Managing Visual Attention, Integrated in a Cognitive Architecture for a Social Robot

et al. 2021

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This paper proposes a novel system for managing visual attention in social robots. This system is based on a client/server approach that allows integration with a cognitive architecture controlling the robot. The core of this architecture is a distributed knowledge graph, in which the perceptual needs are expressed by the presence of arcs to stimuli that need to be perceived. The attention server sends motion commands to the actuators of the robot, while the attention clients send requests through the common knowledge representation. The common knowledge graph is shared by all levels of the architecture. This system has been implemented on ROS and tested on a social robot to verify the validity of the approach and was used to solve the tests proposed in RoboCup @ Home and SciROc robotic competitions. The tests have been used to quantitatively compare the proposal to traditional visual attention mechanisms.

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Section: State Of the Artmentioning

confidence: 99%

Client-Server Approach for Managing Visual Attention, Integrated in a Cognitive Architecture for a Social Robot

et al. 2021

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“…Grotz [43] and Yang [44] both worked on selecting an ideal viewpoint for a humanoid robot to support manipulation. Grotz proposed selecting salient viewpoints of the environment.…”

Section: Studies That Discussed Attributes Of Ideal Viewpointmentioning

confidence: 99%

“…The third category was entropy (view with higher entropy was postulated to be better) [50,51,52,53,55,68,57,58,65]. The fourth category was saliency (view with higher saliency was postulated to be better) [43,58]. The fifth category was human factors consisting of psychomotor aspects [38,39,40,41], sketchability (ability to draw a sketch of an object) [54,66,67], aesthetics [72,73,56], and preference [58,62].…”

Section: Attributes Of Ideal Viewpointmentioning

confidence: 99%

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot. However, there is no existing model of the value of different external viewpoints and the choice of viewpoints is ad hoc not always leading to improved performance. This research develops the model using a psychomotor approach based REFERENCES .

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“…Camera stabilization during gait is a well known issue in humanoid robotics [1][2][3]. Many artificial vision tasks, as mapping or recognition, depend on image quality aspects like illumination, focus, or image position and rotation.…”

Section: Introductionmentioning

confidence: 99%

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

Muñoz,

de Santos-Rico,

Mena

et al. 2024

Biomimetics

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In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid’s head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies observed in different animals, by means of a soft neck, which is used to provide more natural and compliant head movements. Since the neck presents a complex kinematic model and nonlinear behavior due to its soft nature, the approach requires a robust control solution. Two different control approaches are addressed: a classical PID controller and a fractional order controller. For the validation of the control approaches, an extensive set of experiments is performed, including real movements of the humanoid, different head loading conditions or transient disturbances. The results show the superiority of the fractional order control approach, which provides higher robustness and performance.

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Autonomous view selection and gaze stabilization for humanoid robots

Cited by 9 publications

References 25 publications

Client-Server Approach for Managing Visual Attention, Integrated in a Cognitive Architecture for a Social Robot

Client-Server Approach for Managing Visual Attention, Integrated in a Cognitive Architecture for a Social Robot

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

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