Jijo-2: an office robot that communicates and learns

Asoh, Hideki; Motomura, Y.; Asano, Futoshi; Hara, Isao; Hayamizu, Satoru; Itou, Katunobu; Kurita, Takio; Matsui, Toshihiro; Vlassis, Nikos; Bunschoten, R.; Kröse, B.J.A.

doi:10.1109/5254.956081

Cited by 57 publications

(41 citation statements)

References 15 publications

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“…Most solutions are vision-based and use algorithms for face recognition [40,43,44], or in some case gait and full body analysis [18,33]. However, just a few recognition systems are actually implemented on real mobile robots, as their perception capabilities are limited by sensor uncertainty, motion and changes in the environment [2,10,15].…”

Section: Related Workmentioning

confidence: 99%

“…Most of existing robotic systems provided with visionbased human recognition operate in two separate steps: first, a frame is selected where the subjects satisfies some criteria, like pose, size or number of visible features; then, some standard recognition algorithm is applied versus a fixed database of known people [2,15,30]. Unfortunately, this approach ignores important clues like time and spatial evolution of the subject to be identified.…”

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confidence: 99%

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A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

Bellotto

2010

Int J of Soc Robotics

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A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics.

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Section: Related Workmentioning

confidence: 99%

mentioning

confidence: 99%

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

Bellotto

2010

Int J of Soc Robotics

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“…Similarly, MARVIN gives tours around the lab where it was developed (Koch, Jung, Wettach, Nemeth and Berns 2008). JIJO-2 is an office robot that can guide visitors, deliver messages and arrange meetings (Asoh et al 2001). ARMAR, another robot with a partially humanoid configuration, performs kitchen-related tasks (Stiefelhagen et al 2004).…”

Section: Robots With Languagementioning

confidence: 99%

“…The HRP-2 humanoid robot, for example, performs face detection and even portrait drawing (Ido, Matsumoto, Ogasawara and Nisimura 2006). Face detection and recognition is carried out by JIJO-2 (Asoh et al 2001). Pointing gestures of the human interlocutor, as well as gaze direction, are used to constrain interpretations by BIRON (Toptsis, Haasch, Hüwel, Fritsch and Fink 2005), ARMAR (Stiefelhagen et al 2004) and the robot of Hanafiah, Yamazaki, Nakamura and Kuno (2004).…”

Section: Robots With Languagementioning

confidence: 99%

Beyond the individual: new insights on language, cognition and robots

Lopes

Belpaeme

2008

Connection Science

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“…This reflects the difficulty to simultaneously serve the demanding goals of task-and config-interaction. A few examples of such systems acting in a robotics or pure vision domain can be found in [2,3,4,5]. Some of our own earlier work along these lines is summarised in [6,7].…”

Section: A Dual Interaction Perspective On Artificial Systemsmentioning

confidence: 99%

A Dual Interaction Perspective for Robot Cognition: Grasping as a “Rosetta Stone”

Ritter

Haschke

Steil

2007

Perspectives of Neural-Symbolic Integration

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Summary. One of the major milestones to higher cognition may be the ability to shape movements that involve very complex interactions with the environment. Based on this hypothesis we argue that the study and technical replication of manual intelligence may serve as a "Rosetta Stone" for designing cognitive robot architectures. The development of such architectures will strongly benefit if improvements to their interaction capabilities in the task domain become paired with efficient modes of interaction in the domain of configuring and restructuring such systems. We find that this "dual interaction perspective" is closely connected with the challenge of integrating holistic and symbolic aspects of representations. In the case of grasping, this requires a very tight marriage between continuous control and more discrete, symbol-like representations of contact and object states. As a concrete implementation, we propose a two layered architecture, where the lower, subsymbolic layer offers a repository of elementary dynamical processes implemented as specialised controllers for sensori-motor primitives. These controllers are represented and coordinated in the upper, symbolic layer, which employs a hierarchy of state machines. Their states represent semantically related classes of dynamic sensori-motor interaction patterns. We report on the application of the proposed architecture to a robot system comprising a 7-DOF redundant arm and a five-fingered, 20-DOF anthropomorphous manipulator. Applying the dual interaction approach, we have endowed the robot with a variety of grasping behaviours, ranging from simple grasping reflexes over visually instructed "imitation grasping" to grasping actions initiated in response to spoken commands. We conclude with a brief sketch of cognitive abilities that we now feel within close reach for the described architecture.

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Jijo-2: an office robot that communicates and learns

Cited by 57 publications

References 15 publications

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

Beyond the individual: new insights on language, cognition and robots

A Dual Interaction Perspective for Robot Cognition: Grasping as a “Rosetta Stone”

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