3D models of humanoid soccer robot in USAR sim and robotics studio simulators
This paper describes our experience in the simulation of humanoid soccer robots using two general purposes 3D simulators, namely USARSim and Microsoft Robotics Studio. We address the problem of the simulation of a soccer match among two teams of small humanoid robots in the RoboCup Soccer Kid-Size Humanoid competitions. The paper reports the implementation of the virtual models of the Robovie-M humanoid robot platform in the two simulators. Robovie-M was the robot used by our team "Artisti" in the RoboCup 2006 competitions. This paper focuses on the procedures needed to implement the virtual models of the robot and in the details of the models. We describe experiments assessing the feasibi…
A BCI Teleoperated Museum Robotic Guide
Brain Computer Interface is a system that offers also a support to the patients with neuromuscular diseases as Amyotrophic Lateral Sclerosis. In this paper are presented some works with the aim to integrate brain computer interfaces and mobile robots. The two aim of this project are: (i) to test an improved BCI experience through the help of a physical robot, so that brain signals are stronger stimulate. (ii) to use a remote robot controlled by a highly paralyzed patient via a BCI through a friendly Graphic User. Some preliminary experiments are presented in this paper about one of the possible application: a robotic museum guide (PeopleBot and Pioneer3 robot), that can transmit remote visu…
A Topic Recognition System for Real World Human-Robot Conversations
One of the main features of social robots is the ability to communicate and interact with people as partners in a natural way. However, achieving a good verbal interaction is a hard task due to the errors on speech recognition systems, and due to the understanting the natural language itself. This paper tries to overcome such kind of problems by presenting a system that enables social robots to get involved in conversation by recognizing its topic. Through the use of classical text mining approach, the presented system allows social robots to understand topics of conversation between human partners, enabling the customization of behaviours in their accordance. The system has been evaluated …
Development of intelligent service robots
The creation of intelligent robots has been a major goal of Artificial Intelligence since the early days and has provided many motivations to Artificial Intelligence researchers. Therefore, a large body of research has been done in this field and many relevant results have shown that integration of Artificial Intelligence and Robotics techniques is a viable approach towards this goal. This article summarizes the efforts and the achievements of several Italian research groups in the development of intelligent robotic systems characterized by a suitable integration of Artificial Intelligence and Robotic techniques. The contributions collected in this article show the long history of this rese…
Towards Partners Profiling in Human Robot Interaction Contexts
Individuality is one of the most important qualities of humans. Social robots should be able to model the individuality of the human partners and to modify their behaviours accordingly.This paper proposes a profiling system for social robots to be able to learn the individuality of human partners in social contexts. Profiles are expressed in terms of of identities and preferences bound together. In particular, people’s identity is captured by the use of facial features, while preferences are extracted from the discussion between the partners. Both are bound using an Hebb network. Experiments show the feasibility and the performances of the approach presented.
A Multimodal People Recognition System for an Intelligent Environment
In this paper, a multimodal system for recognizing people in intelligent environments is presented. Users are identified and tracked by detecting and recognizing voices and faces through cameras and microphones spread around the environment. This multimodal approach has been chosen to develop a flexible and cheap though reliable system, implemented through consumer electronics. Voice features are extracted through a short time spectrum analysis, while face features are extracted using the eigenfaces technique. The recognition task is achieved through the use of some Support Vector Machines, one per modality, that learn and classify the features of each person, while bindings between modalit…
Audio-video people recognition system for an intelligent environment
In this paper an audio-video system for intelligent environments with the capability to recognize people is presented. Users are tracked inside the environment and their positions and activities can be logged. Users identities are assessed through a multimodal approach by detecting and recognizing voices and faces through the different cameras and microphones installed in the environment. This approach has been chosen in order to create a flexible and cheap but reliable system, implemented using consumer electronics. Voice features are extracted by a short time cepstrum analysis, and face features are extracted using the eigenfaces technique. The recognition task is solved using the same Su…