Robot head motion control with an emphasis on realism of neck-eye coordination during object tracking

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 63, Issue 2, 2011, Pages 163-190

  Rajruangrabin, Jartuwat ^a   Popa, Dan O ^a  

^a UNIVERSITY OF TEXAS AT ARLINGTON   (United States)

Author keywords

Eye neck coordination; Human robot interaction; Humanoid robots; Robot head human tracking

Indexed keywords

3D POSITIONS; ADVANCED CONTROL; EYE CONTACT; EYE-NECK COORDINATION; HUMAN SUBJECTS; HUMANOID ROBOT; MOTION COORDINATION; OBJECT OF INTERESTS; OBJECT TRACKING; OPTIMIZATION APPROACH; REALISTIC ROBOTS; ROBOT HEAD; ROBOT HEAD HUMAN TRACKING; VISUAL FEEDBACK;

ALGORITHMS; ANTHROPOMORPHIC ROBOTS; VISUAL COMMUNICATION;

HUMAN COMPUTER INTERACTION;

EID: 80051684076     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9468-x     Document Type: Article

References (18)

1. Bartneck, C., Kanda, T., Ishiguro, H., Hagita, N.: Is the uncanny valley an uncanny cliff? In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2007, pp. 368-373. IEEE (2007)
2. Breazeal, C., Scassellati, B.: Challenges in building robots that imitate people. In: Dautenhahn, K., Nehaniv, C. (eds.) Imitation in Animals and Artifacts. MIT Press (2001)
3. C Breazeal A Edsinger P Fitzpatrick B Scassellati 2001 Active vision for sociable robots IEEE Trans. Syst. Man Cybern. Part A 31 5 443 453 10.1109/3468.952718 (Pubitemid 32992538)
4. Cannata, G., D'Andrea, M., Maggiali, M.: Design of a humanoid robot eye: models and experiments. In: 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp. 151-156, 4-6 Dec 2006
5. Cannata, G., Maggiali, M.: Implementation of Listing's law for a tendon driven robot eye. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3940-3945, 9-15 Oct 2006 (Pubitemid 46928542)
6. Goetz, J., Kiesler, S., Powers, A.: Matching robot appearance and behavior to tasks to improve human-robot cooperation. In: The 12th IEEE International Workshop on Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003, pp. 55-60, 31 Oct - 2 Nov 2003
7. Gurbuz, S., Shimizu, T., Cheng, G.: Real-time stereo facial feature tracking: mimicking human mouth movement on a humanoid robot head. In: 2005 5th IEEE-RAS International Conference on Humanoid Robots, pp. 363-368, 5-5 Dec 2005 (Pubitemid 46170841)
8. MacDorman, K.F., Minato, T.: CogSci-2005 Workshop: Toward Social Mechanisms of Android Science (2005). http://www.androidscience.com/ theuncannyvalley/proceedings2005/uncannyvalley.html
9. M Mori 1970 Bukimi no tani (the uncanny valley) Energy 7 33 35 (in Japanese, see [8] for translation)
10. Oh, J.-H., Hanson, D., Kim, W.-S., Han, Y., Kim, J.-Y., Park, I.-W.: Design of Android type Humanoid Robot Albert HUBO. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1428-1433, Oct 2006 (Pubitemid 46928096)
11. Rajruangrabin, J., Dang, P., Popa, D.O., Lewis, F.L., Stephanou, H.E.: Simultaneous visual tracking and pose estimation with applications to robotic actors. In: World Congress in Computer Science 2008. Proceedings, IPCV 08, pp. 497-503 (2008)
12. Scassellati, B.: Investigating models of social development using a humanoid robot. In: Proceedings of the International Joint Conference on Neural Networks, 2003, pp. 2704-2709, 20-24 July 2003
13. PM Sharkey DW Murray JJ Heuring 1997 On the kinematics of robot heads IEEE Trans. Robot. Autom. 13 3 437 442 10.1109/70.585904 (Pubitemid 127763302)
14. Shimada, M., Minato, T., Itakura, S., lshiguro, H.: Uncanny valley of androids and its lateral inhibition hypothesis. In: The 16th IEEE International Symposium on Robot and Human Interactive Communication, 2007. RO-MAN 2007, pp. 374-379, 26-29 Aug 2007
15. Singh, S.K., Pieper, S.D., Popa, D.O., Guinness, J.: Control and coordination of head, eyes and facial expressions of virtual actors in virtual environments. In: 2nd IEEE International Workshop on Robot and Human Communication, 1993. Proceedings, pp. 335-339, 3-5 Nov 1993
16. Woods, S., Dautenhahn, K., Schulz, J.: The design space of robots: investigating children's views. In: 13th IEEE International Workshop on Robot and Human Interactive Communication, 2004. ROMAN 2004, pp. 47-52, 20-22 Sept 2004 (Pubitemid 40822642)
17. JN Tsitsiklis B Van Roy 1997 An analysis of temporal-difference learning with function approximation IEEE Trans. Automat. Contr. 42 5 674 690 0914.93075 10.1109/9.580874 (Pubitemid 127760263)
18. Sutton, R.S., Barto, A.G.: Reinforcement Learning: an Introduction. Bradford Books, MIT Press, Cambridge, MA, 2002 edition (1998)