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Using Constrained Optimization for Real-Time Synchronization of Verbal and Nonverbal Robot Behavior
KTH, School of Electrical Engineering and Computer Science (EECS).
KTH, School of Electrical Engineering and Computer Science (EECS).ORCID iD: 0000-0002-7801-7617
KTH, School of Electrical Engineering and Computer Science (EECS), Speech, Music and Hearing, TMH.ORCID iD: 0000-0003-1399-6604
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
2018 (English)In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE Computer Society, 2018, p. 1955-1961Conference paper, Published paper (Refereed)
Abstract [en]

Most of the motion re-targeting techniques are grounded on virtual character animation research, which means that they typically assume that the target embodiment has unconstrained joint angular velocities. However, because robots often do have such constraints, traditional re-targeting approaches can originate irregular delays in the robot motion. With the goal of ensuring synchronization between verbal and nonverbal behavior, this paper proposes an optimization framework for processing re-targeted motion sequences that addresses constraints such as joint angle and angular velocities. The proposed framework was evaluated on a humanoid robot using both objective and subjective metrics. While the analysis of the joint motion trajectories provides evidence that our framework successfully performs the desired modifications to ensure verbal and nonverbal behavior synchronization, results from a perceptual study showed that participants found the robot motion generated by our method more natural, elegant and lifelike than a control condition.

Place, publisher, year, edition, pages
IEEE Computer Society, 2018. p. 1955-1961
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-237162ISI: 000446394501077Scopus ID: 2-s2.0-85063159854ISBN: 978-1-5386-3081-5 (print)OAI: oai:DiVA.org:kth-237162DiVA, id: diva2:1258328
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 21-25, 2018, Brisbane, AUSTRALIA
Note

QC 20181024

Available from: 2018-10-24 Created: 2018-10-24 Last updated: 2019-08-20Bibliographically approved

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Vijayan, Aravind ElanjimattathilAlexanderson, SimonBeskow, JonasLeite, Iolanda

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