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Academic literature on the topic 'Robotic appearances'

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Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Robotic appearances"

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Robins, Ben, Kerstin Dautenhahn, and Janek Dubowski. "Does appearance matter in the interaction of children with autism with a humanoid robot?" Interaction Studies 7, no. 3 (November 13, 2006): 479–512. http://dx.doi.org/10.1075/is.7.3.16rob.

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This article studies the impact of a robot’s appearance on interactions involving four children with autism. This work is part of the Aurora project with the overall aim to support interaction skills in children with autism, using robots as ‘interactive toys’ that can encourage and mediate interactions. We follow an approach commonly adopted in assistive robotics and work with a small group of children with autism. This article investigates which robot appearances are suitable to encourage interactions between a robot and children with autism. The children’s levels of interaction with and response to different appearances of two types of robots are compared: a small humanoid doll, and a life-sized ‘Theatrical Robot’ (a mime artist behaving like a robot). The small humanoid robot appeared either as a human-like ‘pretty doll’ or as a ‘robot’ with plain features. The Theatrical Robot was presented either as an ordinary human, or with plain clothing and a featureless, masked face. The results of these trials clearly indicate the children’s preference in their initial response for interaction with a plain, featureless robot over the interaction with a human-like robot. In the case of the life-size Theatrical Robot, the response of children towards the plain/robotic robot was notably more social and pro-active. Implications of these results for our work on using robots as assistive technology for children with autism and their possible use in autism research are discussed.
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Paluch, Richard, and Claudia Müller. ""That's Something for Children"." Proceedings of the ACM on Human-Computer Interaction 6, GROUP (January 14, 2022): 1–35. http://dx.doi.org/10.1145/3492850.

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Robotic systems are increasingly seen as possible technical aids against the background of demographic change and the associated pressures on care systems, with increasing numbers of care recipients and a decreasing number of trained caregivers. In human-computer interaction and computer-supported cooperative work, different design paradigms are currently being pursued to explore which features and appearances are favorable for meaningful interactions of humans with robotic systems. One such approach, labeled as "otherware", proposes to conceptualize robots beyond a naive anthropomorphism or zoomorphism, rather developing the idea of a figure that goes beyond the dichotomy between "being alive" and "being a technical artefact". We present an ethnographic study on the perceptions, attitudes, and practices of care attendants and nursing-home residents in their experimenting with off-the-shelf robotic cats and dogs. The three-week study shows specific appropriation practices of the robotic pets, and how the care attendants - partly together with the residents - define their experiences of the robotic pets, i.e., in which situations the robotic pets are considered either as living beings or as technology toys. The study provides practice-based insights into how possible uses of robotic pets could be meaningfully integrated into care practices, but also which ethical reflections were discussed during their use. Finally, this ethnographic study functioned as a collaborative learning process between researchers, care attendants, and residents, and thus also points out possible aspects that arose with regard to future learning spaces of professional and organizational development for dealing with innovative technologies in residential care contexts.
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Amelin, Konstantin, Oleg Granichin, Anna Sergeenko, and Zeev V. Volkovich. "Emergent Intelligence via Self-Organization in a Group of Robotic Devices." Mathematics 9, no. 12 (June 8, 2021): 1314. http://dx.doi.org/10.3390/math9121314.

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Networked systems control is a known problem complicated because of the need to work with large groups of elementary agents. In many applications, it is impossible (or difficult) to validate agent movement models and provide sufficiently reliable control actions at the elementary system components level. The evolution of agent subgroups (clusters) leads to additional uncertainty in the studied control systems. We focus on new decentralized control methods based on local communications in complex multiagent dynamical systems. The problem of intelligence in a complex world is considered in connection to multiagent network systems, including a system named airplane with feathers, load balancing, and the multisensor-multitarget tracking problem. Moreover, the new result concerning the emergency of intelligence in a group of robots is provided. All these methods follow the paradigm of the direct reaction of each element (agent) of the system to its sensory data of current situation observations and the corresponding data from a limited number of its neighbors (local communications). At the same time, these algorithms achieve a mutual goal at the macro level. All of the considered emergent intelligence appearances inspire the necessity to “rethink” the previously recognized concepts of computability and algorithm in computer science.
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Tu, Yun-Chen, Sung-En Chien, Yueh-Yi Lai, Jen-Chi Liu, and Su-Ling Yeh. "THE UNCANNY VALLEY REVISITED: AGE-RELATED DIFFERENCE AND THE EFFECT OF FUNCTION TYPE." Innovation in Aging 3, Supplement_1 (November 2019): S330. http://dx.doi.org/10.1093/geroni/igz038.1202.

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Abstract Due to declined birthrate and the increased aging population, solving the problem of labor shortage has become important. Introducing robotic labors could effectively help older adults’ daily lives. However, older adults’ acceptance of robots was lower than younger adults. Robot’s appearance might be one of the reasons. The Uncanny Valley (UV) refers to the phenomenon that people rate more positively as robots become more humanlike, but only up to a certain point; as it approaches near-perfect similarity of human appearance, likeability drops and forms an uncanny valley. Nonetheless, previous results supporting the UV were mainly from younger adults. We examined whether the UV is also applicable for older and middle-aged adults. We also examined whether the acceptance of function (companion vs. service) would change based on robot appearance, and whether robot-induced traits have any relation with the acceptance of robot function. We asked younger (N= 80, age 18-39), middle-aged (N= 87, age 40-59), and older (N= 88, age 60-87) adults to view each picture of 84 robots and evaluate their impression of each robot and intention of use regarding robot function. Contrary to the UV found for younger and middle-aged adults, older adults did not show UV–they preferred humanlike over non-humanlike robots, regardless of the robot function. Scores on each trait–except for authoritativeness–showed positive correlations with the acceptance of functions. These findings imply that the design of assistive robots should take UV into consideration by customizing robots’ appearances and functions to different age groups.
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Leedman, Samuel Robert, Aaron Esmaili, Tejinder Singh, and Desmond Wee. "Large volume haemorrhage following transoral robotic surgery (TORS) as a result of fibromuscular dysplasia: first reported case." BMJ Case Reports 12, no. 11 (November 2019): e232022. http://dx.doi.org/10.1136/bcr-2019-232022.

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We present a case of a 61-year-old woman who suffered a haemorrhagic complication of an aneurysmal left lingual artery, secondary to fibromuscular dysplasia, following transoral robotic surgery (TORS). She was admitted through the emergency department 3 days after resection of a central base of tongue tumour. She suffered a massive haemorrhage requiring intensive care admission, blood transfusion, intubation, operative and endovascular intervention. The diagnosis of fibromuscular dysplasia was made at angiography. During attempts to embolise the culprit left lingual artery, the vessel dissected at its origin leading to arrest of bleeding. Repeat angiograms during her admission demonstrated unchanged appearances and ruled out recanalisation of the vessel. She was extubated and remained stable on the ward, discharged home some days later in good health. To our knowledge, this is the first ever reported case of fibromuscular dysplasia affecting the lingual artery leading to aneurysmal dilation and severe haemorrhage following TORS.
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Piwowarczyk, Jakub, Jay Carriere, Kim Adams, and Mahdi Tavakoli. "An Admittance-controlled Force-scaling Dexterous Assistive Robotic System." Journal of Medical Robotics Research 05, no. 01n02 (March 2020): 2041002. http://dx.doi.org/10.1142/s2424905x20410020.

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Play has a vital role in a child’s development; it can affect everything from social and language to cognitive and perceptual skills. However, if a child has a physical disability, the fundamental limitations of their disability may prevent them from participating in all forms of play. Construction and block play is an example of play that may be difficult for children who have reduced upper body strength and are, therefore, unable to manipulate heavier objects in space. In this paper, we propose a novel 6 degree-of-freedom admittance-controlled, force-scaling robot that will allow for children to lift heavier objects than they would normally be able to, while still retaining the full range of motion of their upper body. This assistive system is designed to retain the user’s haptic perception, allowing the user to still partially feel the weight of the objects that they are manipulating. Two user studies are done to evaluate the usability of the system. First, to ensure that the force scaling of the system does not negatively affect a user’s haptic perception, 10 able-bodied individuals were asked to order a series of buckets with identical appearances but different masses from lightest to heaviest with three different force-scaling factors. It was shown that the force amplification ability of the system does not significantly detract from users’ ability to discriminate masses. Second, to evaluate the precision and the usefulness of the force scaling of the system, users were asked to perform a challenging peg-in-hole insertion task. Results indicate that the system has a positive effect on the ability of a user to perform the task when the assistance is necessary. However, increasing amounts of assistance, past those required for participants to complete the task without issues, do not have any significant effect. The effect of a modular reacher bar that can augment the workspace of users is investigated through a similar peg-in-hole insertion task. For the trials with the modular reacher bar attached, it is shown that the system’s force amplification has a very positive effect in assisting users in completing the task. It should be noted that although the target population for this paper is children with disabilities, there can also be uses for this system as a general assistive technology for adults with upper-body weakness in their daily lives.
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Wu, Wei-Lin, Di-Ching Li, Yen-Shuo Chen, and Fu-Hsiang Ko. "Weathering-Resistant Replicas Fabricated by a Three-Dimensional Printing Robotic Platform Induce Shoaling Behavior in Zebrafish." Sensors 22, no. 9 (May 3, 2022): 3481. http://dx.doi.org/10.3390/s22093481.

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In recent decades, zebrafish have become an increasingly popular laboratory organism in several fields of research due to their ease of reproduction and rapid maturation. In particular, shoaling behavior has attracted the attention of many researchers. This article presents a fully printed robotic model used to sense and stimulate shoaling behavior in zebrafish (Danio rerio). Specifically, we exposed laboratory-fabricated replicated materials to critical acid/base/salt environments and evaluated the mechanical, optical, and surface properties after a three-month immersion period. Focusing on weatherability, these test samples maintained high tensile strength (~45 MPa) and relatively similar transmission (>85%T in the visible region), as determined by UV–vis/FTIR spectroscopy. Three-dimensional (3D) printing technology allowed printing of models with different sizes and appearances. We describe the sense of zebrafish responses to replicas of different sizes and reveal that replicas approximating the true zebrafish size (3 cm) are more attractive than larger replicas (5 cm). This observation suggests that larger replicas appear as predators to the zebrafish and cause fleeing behavior. In this study, we determined the weatherability of a high-transparency resin and used it to fabricate a fully printed driving device to induce shoaling by zebrafish. Finally, we demonstrate a weathering-resistant (for three months) 3D-printed decoy model with potential utility for future studies of outdoor shoaling behavior, and the result has the potential to replace the traditional metal frame devices used in outdoor experiments.
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Elena, Seredkina. "Philosophical Foundations of Applied Anthropomorphism In Social Robotics." Technologos, no. 4 (2020): 56–63. http://dx.doi.org/10.15593/perm.kipf/2020.4.05.

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This article is devoted to the philosophical foundations of anthropomorphism in the context of Human-Robot Interaction (HRI), a new interdisciplinary field of research. On the basis of modern scientific works, a positive concept of anthropomorphism as a cognitive mechanism ensuring human adaptation to a complex external environment is formulated. The theoretical principles of applied anthropomorphism (AA) are being developed to identify the conditions for activating anthropomorphic projections in a user during an HRI act. There are two key factors in the structure of AA: appearance and autonomous behaviour. Asymmetry principle is formulated: behavioral realism is more important than highly anthropomorphic appearance. The principle of coherence is formulated: the necessity of synchronisation of the appearance and the robot's behaviour, that is, the level of development of behavioral patterns of the robotic system determines the degree of its anthropomorphism. Various forms of anthropomorphism are distinguished. These differences can be described in terms of involvement in cognitive activity. Anthropomorphism as passive ascription and simple projection receives negative assessment in social robotics, while anthropomorphism, which is deduced from autonomous robots behaviour or initiated by them, is assessed positively. The epistemological foundations of the robotic revolution of the late 80s-early 90s of the XX century are analysed; the methodology of "behavior-based robotics" is examined thoroughly. The behavioral approach in robotics is based on the concept of weak artificial intelligence, within which computational operations and functions of a machine represent concatenation of processes and can lead to the illusion of intelligence in a robot, primarily due to projective intelligence from a human-observer side. These questions are analysed in the context of modern philosophical theories, such as second-order cybernetics, autopoiesis. Anthropomorphism as active ascription of cognitive or emotional states to the robot from the observer side in order to rationalise the behaviour of the object is correlated with D. Dennett's intentional stance. At the end of the article, the phenomenon of attribution of human characteristics to non-human entities in Eastern religious cults is studied. The question of the ontological status of gods and robots is raised.
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RUSSELL, R. ANDREW, GEOFFREY TAYLOR, LINDSAY KLEEMAN, and ANIES H. PURNAMADJAJA. "MULTI-SENSORY SYNERGIES IN HUMANOID ROBOTICS." International Journal of Humanoid Robotics 01, no. 02 (June 2004): 289–314. http://dx.doi.org/10.1142/s0219843604000162.

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Sensing is a key element for any intelligent robotic system. This paper describes the current progress of a project in the Intelligent Robotics Research Center at Monash University that has the aim of developing a synergistic set of sensory systems for a humanoid robot. Currently, sensing modes for colour vision, stereo vision, active range, smell and airflow are being developed in a size and form that is compatible with the humanoid appearance. Essential considerations are sensor calibration and the processing of sensor data to give reliable information about properties of the robot's environment. In order to demonstrate the synergistic use of all of the available sensory modes, a high level supervisory control scheme is being developed for the robot. All time-stamped sensor data together with derived information about the robot's environment are organized in a blackboard system. Control action sequences are then derived from the blackboard data based on a task description. The paper presents details of each of the robot's sensory systems, sensor calibration, and supervisory control. Results are also presented of a demonstration project that involves identifying and selecting mugs containing household chemicals. Proposals for future development of the humanoid robot are also presented.
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Motienko, Anna, Irina Vatamaniuk, and Anton Saveliev. "Development of technical appearance of human-machine interface for group control of unmanned robots when performing agricultural tasks." Robotics and Technical Cybernetics 9, no. 4 (December 30, 2022): 299–311. http://dx.doi.org/10.31776/rtcj.9407.

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Abstract One of the promising areas of using robotic systems (RS) is group control of robots. The means of ensuring the operator's interaction with autonomous RS for monitoring and remote control - the human-machine interface (HMI) of the robotic systems, are discussed in the paper. The foreign and domestic publications describing existing approaches and priority directions to the construction of HMIs for various types of robotic systems - ground and air, as well as modern commercial solutions in this area are analyzed in the paper. The performed analysis allows us to conclude that the most popular and convenient type of human-machine interface for the types of robotic systems under consideration today is a digital application with a graphical interface. To implement complex scenarios of human-machine interaction, combinations of several methods are used, such as: a digital application with a graphical interface, virtual reality tools, gesture recognition, voice commands. The technical appearance of the man-machine interface of group unmanned robots based on the results of the analysis was developed. It ensures the prompt formulation of the applied problem to be solved and the subsequent control of its execution by the operator. The proposed solution is intuitive and flexible, which provides the user with a higher speed of information processing. Key words Group robotics, human-machine interface (HMI), group control of robots, HMI architecture, robotic system.
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Dissertations / Theses on the topic "Robotic appearances"

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Linegar, Chris. "Vision-only localisation under extreme appearance change." Thesis, University of Oxford, 2016. https://ora.ox.ac.uk/objects/uuid:608762bd-5608-4e50-ab7b-da454dd52887.

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Robust localisation is a key requirement for autonomous vehicles. However, in order to achieve widespread adoption of this technology, we also require this function to be performed using low-cost hardware. Cameras are appealing due to their information-rich image content and low cost; however, camera-based localisation is difficult because of the problem of appearance change. For example, in outdoor en- vironments the appearance of the world can change dramatically and unpredictably with variations in lighting, weather, season and scene structure. We require autonomous vehicles to be robust under these challenging environmental conditions. This thesis presents Dub4, a vision-only localisation system for autonomous vehicles. The system is founded on the concept of experiences, where an "experience" is a visual memory which models the world under particular conditions. By allowing the system to build up and curate a map of these experiences, we are able to handle cyclic appearance change (lighting, weather and season) as well as adapt to slow structural change. We present a probabilistic framework for predicting which experiences are most likely to match successfully with the live image at run-time, conditioned on the robot's prior use of the map. In addition, we describe an unsupervised algorithm for detecting and modelling higher-level visual features in the environment for localisation. These features are trained on a per-experience basis and are robust to extreme changes in appearance, for example between rain and sun, or day and night. The system is tested on over 1500km of data, from urban and off-road environments, through sun, rain, snow, harsh lighting, at different times of the day and night, and through all seasons. In addition to this extensive offline testing, Dub4 has served as the primary localisation source on a number of autonomous vehicles, including the Oxford University's RobotCar, the 2016 Shell Eco-Marathon, the LUTZ PathFinder Project in Milton Keynes, and the GATEway Project in Greenwich, London.
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Garg, Sourav. "Robust visual place recognition under simultaneous variations in viewpoint and appearance." Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/134410/1/Sourav%20Garg%20Thesis.pdf.

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This thesis explores the problem of visual place recognition and localization for a mobile robot, particularly dealing with the challenges of simultaneous variations in scene appearance and camera viewpoint. The proposed methods draw inspiration from humans and make use of semantic cues to represent places. This approach enables effective place recognition from similar or opposing viewpoints, despite variations in scene appearance caused by different times of day or seasons. The research contributions presented in the thesis advance visual place recognition techniques, making them more useful for deployment in a wide range of robotic and autonomous vehicle scenarios.
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Bethel, Cindy L. "Robots Without Faces: Non-Verbal Social Human-Robot Interaction." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003097.

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Prakash, Akanksha. "Understanding younger and older adults' perceptions of humanoid robots: effects of facial appearance and task." Thesis, Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/49024.

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Although humanoid robots are being designed to assist people in various tasks, there remain gaps in our understanding of the perceptions that humanoid faces evoke in the user. Understanding user perceptions would help design robots that are better suited for the target user group. Younger and older adults’ preferences for robot appearance were assessed out of three levels of human-likeness. In general, people perceived a mixed human-robot appearance less favorably compared to highly human and highly robotic appearances. Additionally the nature of task also influenced people’s overall perceptions of robots. Robots were most positively evaluated for assistance with chores and less positively for personal care and decision-making. Moreover, task and robot humanness had an interactive effect on people’s likability, trust, and perceived usefulness toward robots. Age-related differences in preferences of robot humanness were also observed. Older adults showed a higher inclination toward human-looking appearance of robots whereas younger adults’ preferences were more distributed across the levels of humanness. An appearance with mixed human-robot features was more likely to be rejected by older adults than by younger adults, and the difference was most striking for a decision-making task. Besides the humanness of the robot face, perceptions of robot appearances were also influenced by factors such as robot gender, specific facial features/aesthetics, expressiveness, perceived personality, and perceived capability. Future studies should measure the relative weight of these different factors in the formation of perceptions, both at a global level and at a task-specific level.
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Paul, Rohan. "Long term appearance-based mapping with vision and laser." Thesis, University of Oxford, 2012. http://ora.ox.ac.uk/objects/uuid:8d59bf8c-bec8-4782-b100-aa80d1136802.

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This thesis is about appearance-based topological mapping for mobile robots using vision and laser. Our goal is life-long continual operation in outdoor unstruc- tured workspaces. We present a new probabilistic framework for appearance-based mapping and navigation incorporating spatial and visual appearance. Locations are encoded prob- abilistically as random graphs possessing latent distributions over visual features and pair-wise euclidean distances generating observations modeled as 3D constellations of features observed via noisy range and visual detectors. Multi-modal distributions over inter-feature distances are learnt using non-parametric kernel density estima- tion. Inference is accelerated by executing a Delaunay tessellation of the observed graph with minimal loss in performance, scaling log-linearly with scene complexity. Next, we demonstrate how a robot can, through introspection and then targeted data retrieval, improve its own place recognition performance. We introduce the idea of a dynamic sampling set, the onboard workspace representation, that adapts with increasing visual experience of continually operating robot. Based on a topic based probabilistic model of images, we use a measure of perplexity to evaluate how well a working set of background images explains the robot’s online view of the world. O/ine, the robot then searches an external resource to seek additional background images that bolster its ability to localize in its environment when used next. Finally, we present an online and incremental approach allowing an exploring robot to generate apt and compact summaries of its life experience using canon- ical images that capture the essence of the robot’s visual experience-illustrating both what was ordinary and what was extraordinary. Leveraging probabilistic topic models and an incremental graph clustering technique we present an algorithm that scales well with time and variation of experience, generating a summary that evolves incrementally with the novelty of data.
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Fanelli, Gabriele. "Facial Features Tracking using Active Appearance Models." Thesis, Linköping University, Department of Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-7658.

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This thesis aims at building a system capable of automatically extracting and parameterizing the position of a face and its features in images acquired from a low-end monocular camera. Such a challenging task is justified by the importance and variety of its possible applications, ranging from face and expression recognition to animation of virtual characters using video depicting real actors. The implementation includes the construction of Active Appearance Models of the human face from training images. The existing face model Candide-3 is used as a starting point, making the translation of the tracking parameters to standard MPEG-4 Facial Animation Parameters easy.

The Inverse Compositional Algorithm is employed to adapt the models to new images, working on a subspace where the appearance is "projected out" and thus focusing only on shape.

The algorithm is tested on a generic model, aiming at tracking different people’s faces, and on a specific model, considering one person only. In the former case, the need for improvements in the robustness of the system is highlighted. By contrast, the latter case gives good results regarding both quality and speed, with real time performance being a feasible goal for future developments.

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Cummins, Mark. "Probabilistic localization and mapping in appearance space." Thesis, University of Oxford, 2009. http://ora.ox.ac.uk/objects/uuid:a34370f2-a2a9-40b5-9a2d-1c8c616ff07a.

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This thesis is concerned with the problem of place recognition for mobile robots. How can a robot determine its location from an image or sequence of images, without any prior knowledge of its position, even in a world where many places look identical? We outline a new probabilistic approach to the problem, which we call Fast Appearance Based Mapping or FAB-MAP. Our map of the environment consists of a set of discrete locations, each with an associated appearance model. For every observation collected by the robot, we compute a probability distribution over the map, and either create a new location or update our belief about the appearance of an existing location. The technique can be seen as a new type of SLAM algorithm, where the appearance of locations (rather than their position) is subject to estimation. Unlike existing SLAM systems, our appearance based technique does not rely on keeping track of the robot in any metric coordinate system. Thus it is applicable even when informative observations are available only intermittently. Solutions to the loop closure detection problem, the kidnapped robot problem and the multi-session mapping problem arise as special cases of our general approach. Abstract Our probabilistic model introduces several technical advances. The model incorporates correlations between visual features in a novel way, which is shown to improve system performance. Additionally, we explicitly compute an approximation to the partition function in our Bayesian formulation, which provides a natural probabilistic measure of when a new observation should be assigned to a location not already present in the map. The technique is applicable even in visually repetitive environments where many places look the same. Abstract Finally, we define two distinct approximate inference procedures for the model. The first of these is based on concentration inequalities and has general applicability beyond the problem considered in this thesis. The second approach, built on inverted index techniques, is tailored to our specific problem of place recognition, but achieves extreme efficiency, allowing us to apply FAB-MAP to navigation problems on the largest scale. The thesis concludes with a visual SLAM experiment on a trajectory 1,000 km long. The system successfully detects loop closures with close to 100% precision and requires average inference time of only 25 ms by the end of the trajectory.
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Stewart, Alexander D. "Localisation using the appearance of prior structure." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:4ee889ac-e8e3-4000-ae23-a9d7f84fcd65.

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Accurate and robust localisation is a fundamental aspect of any autonomous mobile robot. However, if these are to become widespread, it must also be available at low-cost. In this thesis, we develop a new approach to localisation using monocular cameras by leveraging a coloured 3D pointcloud prior of the environment, captured previously by a survey vehicle. We make no assumptions about the external conditions during the robot's traversal relative to those experienced by the survey vehicle, nor do we make any assumptions about their relative sensor configurations. Our method uses no extracted image features. Instead, it explicitly optimises for the pose which harmonises the information, in a Shannon sense, about the appearance of the scene from the captured images conditioned on the pose, with that of the prior. We use as our objective the Normalised Information Distance (NID), a true metric for information, and demonstrate as a consequence the robustness of our localisation formulation to illumination changes, occlusions and colourspace transformations. We present how, by construction of the joint distribution of the appearance of the scene from the prior and the live imagery, the gradients of the NID can be computed and how these can be used to efficiently solve our formulation using Quasi-Newton methods. In order to reliably identify any localisation failures, we present a new classifier using the local shape of the NID about the candidate pose and demonstrate the performance gains of the complete system from its use. Finally, we detail the development of a real-time capable implementation of our approach using commodity GPUs and demonstrate that it outperforms a high-grade, commercial GPS-aided INS on 57km of driving in central Oxford, over a range of different conditions, times of day and year.
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Knurek, Jeffrey. "Exploring the Implementation of Complex Appearances on Small Robots." Thesis, Blekinge Tekniska Högskola, Avdelningen för för interaktion och systemdesign, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-4717.

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The purpose of this project is the exploration of how autonomous robots could develop a language to communicate visual patterns. The idea is that each robot should be able to change their visual appearance depending on what its neighbors are trying to communicate. Thus, the robots should `talk' about their patterns, trying to influence each other. For this project we used the e-Puck robot, a small mobile robot developed by EPFL (Ecole Polytechnique F\'{e}d\'{e}rale de Lausanne) in conjunction with the see-Puck display. The display, developed by FAL (Future Applications Lab), consists of a matrix of 148 LEDs in a circular shape. During this project we looked into several methods of achieving communication though the sensors and actuators of the e-Puck robot. An additional area which was explored was the process of user interaction with the robots.
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Walters, Michael L. "The design space for robot appearance and behaviour for social robot companions." Thesis, University of Hertfordshire, 2008. http://hdl.handle.net/2299/1806.

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To facilitate necessary task-based interactions and to avoid annoying or upsetting people a domestic robot will have to exhibit appropriate non-verbal social behaviour. Most current robots have the ability to sense and control for the distance of people and objects in their vicinity. An understanding of human robot proxemic and associated non-verbal social behaviour is crucial for humans to accept robots as domestic or servants. Therefore, this thesis addressed the following hypothesis: Attributes of robot appearance, behaviour, task context and situation will affect the distances that people will find comfortable between themselves and a robot. Initial exploratory Human-Robot Interaction (HRI) experiments replicated human-human studies into comfortable approach distances with a mechanoid robot in place of one of the human interactors. It was found that most human participants respected the robot's interpersonal space and there were systematic differences for participants' comfortable approach distances to robots with different voice styles. It was proposed that greater initial comfortable approach distances to the robot were due to perceived inconsistencies between the robots overall appearance and voice style. To investigate these issues further it was necessary to develop HRI experimental set-ups, a novel Video-based HRI (VHRI) trial methodology, trial data collection methods and analytical methodologies. An exploratory VHRI trial then investigated human perceptions and preferences for robot appearance and non-verbal social behaviour. The methodological approach highlighted the holistic and embodied nature of robot appearance and behaviour. Findings indicated that people tend to rate a particular behaviour less favourably when the behaviour is not consistent with the robot’s appearance. A live HRI experiment finally confirmed and extended from these previous findings that there were multiple factors which significantly affected participants preferences for robot to human approach distances. There was a significant general tendency for participants to prefer either a tall humanoid robot or a short mechanoid robot and it was suggested that this may be due to participants internal or demographic factors. Participants' preferences for robot height and appearance were both found to have significant effects on their preferences for live robot to Human comfortable approach distances, irrespective of the robot type they actually encountered. The thesis confirms for mechanoid or humanoid robots, results that have previously been found in the domain of human-computer interaction (cf. Reeves & Nass (1996)), that people seem to automatically treat interactive artefacts socially. An original empirical human-robot proxemic framework is proposed in which the experimental findings from the study can be unified in the wider context of human-robot proxemics. This is seen as a necessary first step towards the desired end goal of creating and implementing a working robot proxemic system which can allow the robot to: a) exhibit socially acceptable social spatial behaviour when interacting with humans, b) interpret and gain additional valuable insight into a range of HRI situations from the relative proxemic behaviour of humans in the immediate area. Future work concludes the thesis.
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Books on the topic "Robotic appearances"

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-, Meurice Eric 19, ed. Je fais ce que je veux. Paris: Nathan Jeunesse, 2006.

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Prescott, Tony J. Mammals and mammal-like robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0045.

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Mammals are warm-blooded tetrapod vertebrates that evolved from reptilian ancestors during the late Triassic period around 225 million years ago. This chapter focuses on some of the most distinctive mammalian characteristics and on integrated robotic systems that seek to capture these capabilities in biomimetic artifacts. Topics covered include the mammalian brain, novel sensory systems, agile locomotion, dextrous grasp, and social cognition. Attempts to build integrated robotic systems that broadly match the behaviour and appearance of specific mammalian species have focused most strongly on humans, on quadrupeds such as cats and dogs, and on rodents. The goal of creating robots that resemble mammals will be encouraged by interest in mammal-like robots that can emulate some of the capacities for social companionship provided by domesticated mammals such as rabbits, dogs, and cats.
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Telotte, J. P. Of Robots and Artificial Beings. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780190695262.003.0003.

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This chapter examines animation’s fascination with the robot, a figure that has obvious reflexive links to animation’s typical anthropomorphic characters—the various mice, cats, dogs, and ducks that were the usual stars of early cartoons. The robot is also a figure that had an especially popular resonance throughout the pre-war period, as is evidenced by its appearance in a variety of popular culture venues, including vaudeville acts, World’s Fairs, and feature films. What makes this figure particularly significant in its ability to embody the culture’s conflicted attitudes toward science and technology—attitudes that were also being worked out within literary SF. The animated films, the chapter suggests, typically juxtapose the culture’s faith in a technological utopia, within which robots play a key role, with contemporary concerns about the relationship between technology and labor, thereby qualifying the modernist embrace of the technology.
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Ortiz, Alberto, and Emilio Garcia-Fidalgo. Methods for Appearance-based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking. Springer, 2018.

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Ortiz, Alberto, and Emilio Garcia-Fidalgo. Methods for Appearance-based Loop Closure Detection: Applications to Topological Mapping and Image Mosaicking. Springer, 2019.

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Elder, Alexis. Robot Friends for Autistic Children. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780190652951.003.0008.

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Robots seem to have great therapeutic value for patients with autism spectrum disorders. But their usefulness derives from a potentially problematic source: their appealingly friendly presence, which can lead patients to think of them as friends, or even to prefer their companionship to that of human beings. In this chapter, an analogy between false friends and counterfeit currency is leveraged to explore a potential moral hazard posed by these therapeutic robots. An objection from the subjective nature of the value of friendship is raised, and refuted by an appeal to the importance of cultivating social capabilities. I conclude that the moral hazard can be mitigated by careful design and responsible use, and that these therapies offer genuine promise. But I argue that we must tread with caution when using robots in therapeutic applications where the appearance of friendship is liable to arise.
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Lugrin, Birgit, Catherine Pelachaud, and David Traum. Handbook on Socially Interactive Agents : 20 Years of Research on Embodied Conversational Agents, Intelligent Virtual Agents, and Social Robotics, Volume 1: Establishing SIA Research, Appearance and Behaviour, Social Cognition. Morgan & Claypool Publishers, 2021.

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Book chapters on the topic "Robotic appearances"

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Fontanelli, Daniele, Paolo Salaris, Felipe A. W. Belo, and Antonio Bicchi. "Visual Appearance Mapping for Optimal Vision Based Servoing." In Experimental Robotics, 353–62. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_41.

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Devillers, Laurence. "Human–Robot Interactions and Affective Computing: The Ethical Implications." In Robotics, AI, and Humanity, 205–11. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-54173-6_17.

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AbstractThe field of social robotics is fast developing and will have wide implications especially within health care, where much progress has been made towards the development of “companion robots.” Such robots provide therapeutic or monitoring assistance to patients with a range of disabilities over a long timeframe. Preliminary results show that such robots may be particularly beneficial for use with individuals who suffer from neurodegenerative pathologies. Treatment can be accorded around the clock and with a level of patience rarely found among human healthcare workers. Several elements are requisite for the effective deployment of companion robots. They must be able to detect human emotions and in turn mimic human emotional reactions as well as having an outward appearance that corresponds to human expectations about their caregiving role. This chapter presents laboratory findings on AI-systems that enable robots to recognize specific emotions and to adapt their behavior accordingly. Emotional perception by humans (how language and gestures are interpreted by us to grasp the emotional states of others) is being studied as a guide to programming robots so they can simulate emotions in their interactions with humans.
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Jiang, Jiaqi, Xiaolong Zhou, Sixian Chan, and Shengyong Chen. "Appearance-Based Gaze Tracking: A Brief Review." In Intelligent Robotics and Applications, 629–40. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27529-7_53.

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Khan, Mohammad Asif, and Frédéric Labrosse. "Visual Topological Mapping Using an Appearance-Based Location Selection Method." In Towards Autonomous Robotic Systems, 90–102. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-63486-5_12.

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Lee, Hyelip, Yeon-Ho Kim, Kwang-ku Lee, Dae-Keun Yoon, and Bum-Jae You. "Designing the Appearance of a Telepresence Robot, M4K: A Case Study." In Cultural Robotics, 33–43. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42945-8_3.

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Martini, Molly C., George A. Buzzell, and Eva Wiese. "Agent Appearance Modulates Mind Attribution and Social Attention in Human-Robot Interaction." In Social Robotics, 431–39. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-25554-5_43.

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Hastie, Helen, Katrin Lohan, Amol Deshmukh, Frank Broz, and Ruth Aylett. "The Interaction Between Voice and Appearance in the Embodiment of a Robot Tutor." In Social Robotics, 64–74. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-70022-9_7.

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Dziergwa, Michał, Mirela Frontkiewicz, Paweł Kaczmarek, Jan Kędzierski, and Marta Zagdańska. "Study of a Social Robot’s Appearance Using Interviews and a Mobile Eye-Tracking Device." In Social Robotics, 170–79. Cham: Springer International Publishing, 2013. http://dx.doi.org/10.1007/978-3-319-02675-6_17.

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Haring, Kerstin Sophie, David Silvera-Tawil, Katsumi Watanabe, and Mari Velonaki. "The Influence of Robot Appearance and Interactive Ability in HRI: A Cross-Cultural Study." In Social Robotics, 392–401. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-47437-3_38.

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Amorós, Francisco, Luis Payá, Oscar Reinoso, Luis Miguel Jiménez, and Miguel Juliá. "Topological Height Estimation Using Global Appearance of Images." In ROBOT2013: First Iberian Robotics Conference, 77–89. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-03653-3_7.

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Conference papers on the topic "Robotic appearances"

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Komatsu, Takanori, and Seiji Yamada. "How do robotic agents' appearances affect people's interpretations of the agents' attitudes?" In CHI '07 extended abstracts. New York, New York, USA: ACM Press, 2007. http://dx.doi.org/10.1145/1240866.1241034.

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Komatsu, Takanori, and Seiji Yamada. "Effects of robotic agents' appearances on users' interpretations of the agents' attitudes: towards an expansion of "uncanny valley" assumption." In RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 2007. http://dx.doi.org/10.1109/roman.2007.4415113.

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Dinet, Jérôme. ""Would You be Friends with a Robot?”: The Impact of Perceived Autonomy and Perceived Risk." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002306.

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This paper is aiming to investigate the impact of perceived autonomy and perceived risk on attitudes and opinion about two assistive robots (Paro© and Asimo©), as factors explaining the probability to become “friend” with a robot. The worldwide population of elderly people is growing rapidly and in the coming decades the proportion of older people in the developed countries will change significantly. This demographic shift will create a huge increase in demand for domestic and health-care robotics systems. But the spread of robots in everyday life particularly for purposes of healthcare already gives rise to questions about acceptability, moral and legal responsibility. A robotics system can be powerful and useful, there is not a reason why this system is usable and/or desirable and in fine, accepted. It is still unclear how well these new “faux-people” will be accepted by society, for they raise fundamental questions about what it means to be human, especially at home or in nursing house.METHOD. In a large online survey conducted in France, 2 783 participants (936 adolescents with a mean-age of 12.2 years; 1077 adults with a mean-age of 33.4 years; and 770 seniors with a mean-age of 71.3 years) were asked to complete three questionnaires: (1) The DOSPERT scale (for Domain-Specific Risk-Taking; Blais & Weber, 2006) to assess risk attitude and perception of risks for our participants; (2) The revised version of the FQUA-R scale (for Friendship Quality- Revised; Thien, Razak & Jamil, 2012) to assess close relationships and potential friendship with a robot; (3) The PAS (for Perception of Autonomy Scale; Lombard & Dinet, 2015) to assess positive and negative attitudes towards autonomy of robots. Each participant was asked to complete the three questionnaires twice: before and after viewing two videos showing two assistive robots (Paro© and Asimo©) interacting with human people: In one of the videos, a young woman interacts with the robotic baby-seal Paro©, and gives many explanations about the interests for elderly people (“Paro© gives kindness”, “its allows to create an attachment”). Moreover, we can see an elderly woman who caresses Paro©. In the other video, several physical characteristics of Asimo© are presented (size, weight) and the robot performs several tasks by interacting with a young woman (Asimo© walks, runs, plays football, opens a bottle, serves a glass, etc.).RESULTS AND DISCUSSION. For the two robots, structural equation modelling was used to determine the relationships between all the variables. Results have mainly showed that (i) Perceived risk is mainly and significantly explained by attitudes about risks in health and social domains whatever the gender and the age, and (ii) Perceived autonomy has a direct and positive effect on Friendship quality. In other words, our results tend to confirm that our three factors (perceived risk, perceived autonomy and friendship) are strongly interrelated and should be integrated in studies investigating the acceptability of assistive robots, and confirm that these three factors have different impact according to the physical appearance of the robot (human-like for Asimo© or animal-like shape for Paro©). Industrial and theoretical perspectives are discussed.
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Ding, Wei, and Zhaoyi Li. "Analysis of Intelligent Design of Service Robot Based on Intelligent Transformation." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002317.

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Over the past 30 years from the end of the 20th century to the present, service robotics technology has made great progress, and many important results have been achieved in the broad interdisciplinary fields of robot mechanical structure, information transmission and interaction, material science, automation control, sensor technology, etc. . Every breakthrough in key technologies has enabled service robots to develop rapidly in the direction that people expect. With the in-depth development of Internet technology, the comprehensive popularization and promotion of the Internet of Things technology led by 5G. Coupled with the continuous breakthrough of new developments in the field of artificial intelligence, the development of service robots has encountered an unprecedented technological dividend period, and will surely usher in considerable development, becoming an important driving force for the promotion of human civilization and economic development.The rapid development of many advanced technologies such as artificial intelligence, big data, and 5G communications has directly promoted the rapid development of the robotics industry. Under the impetus of new technologies, service robots closely related to humans are developing rapidly. Service robots are becoming more and more intelligent. In this context, the design principles of service robots, interaction design, service mode design and other related fields are in urgent need of intelligent transformation, and the concept of intelligent design with artificial intelligence as the core has begun to be paid attention to by the academic community.The research on intelligent design in academia is currently mainly in the review stage, and the field of discussion is mainly focused on graphic design. This article hopes to broaden the research field of intelligent design by studying the intelligent design of service robots. At the same time, it provides new ideas and new paradigms for the innovative design of service robots to improve the user experience and service quality of service robots. This research mainly studies the design principles, design goals, interaction design, service mode and design process of existing service robots based on the perspective of intelligent design. This article mainly uses the literature analysis method and the desktop survey method to sort out related theories and design methods and combines specific practical case analysis to make a bold outlook on the intelligent design of service robots to help the intelligent transformation of service robots.In the era of intelligent design, the design principles of service robots are also changing and iterating. First of all, service robots must adapt to their service scenarios. Different service scenarios have different requirements for the function and existence of the product; secondly, Secondly, the interaction design of service robots should be carried out based on user experience, and technology serves as a tool to enhance users’ experience ; the last is the discussion of appearance design principles of service robots. This article takes the LeoBots Scrub Singapore sweeping robot as an example to propose that the appearance design of service robots needs to be developed around safety, emotion and bionics. Intelligent design is guided by traditional design thinking and methods, and conducts big data analysis and intelligent research on the essence, process, thinking and other aspects of industrial design through related design methodology, as the basis for intelligent design to simulate artificial design. The core technical means of intelligent design is artificial intelligence, which is based on big data analysis, combined with artificial intelligence technologies such as machine learning, artificial neural networks, genetic algorithms, and deep learning to achieve the intelligent development of the entire process design.The change of service robot design principles and the addition of intelligent design have changed the design process of service robots. Based on the practical cases of Haier U-BOT robots, this article actively explores the service robot design process under the development trend of intelligent transformation based on intelligent design in order to provide new ideas for the intelligent design of service robots. The intelligent transformation of service robots promotes the development of intelligent design, and intelligent design drives the intelligent transformation of service robots.
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Buchem, Ilona, and Niklas Baecker. "NAO Robot as Scrum Master: Results from a scenario-based study on building rapport with a humanoid robot in hybrid higher education settings." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002385.

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Educational robots have been used as an effective intervention mainly in STEM education. A wide range of educational robots, including programmable toys and DIY electronics, have been used to support computational, engineering and problem solving skills, mainly of school children. However, the application of humanoid robots to support learning, especially in higher education, is still at its initial stage. Recent studies provide promising evidence about the potential of humanoid robots for motivation and learning outcomes in higher education. Humanoid, educational robots, such as the NAO robot, provide a multimodal interface which uses touch, speech, gestures and eye gaze for interaction, which is similar to human interaction in the physical world. Rapport is one of the key factors for a successful interaction with humanoid robots and a modulating factor for learning (Westlund & Breazeal, 2019). Rapport has been defined as a dynamic structure of mutual attentiveness, positivity, and coordination (Tickle-Degnen & Rosenthal, 1990). Rapport with humanoid robots can be established through verbal and nonverbal behaviour including dialogues, gestures and movements (Omokawa et al., 2019; Brown & Howard, 2014).In this paper we describe a scenario-based application of the NAO robot and the results from an online survey with 47 students (58% male, 42% female) who participated in two consecutive exploratory studies in hybrid learning settings (66% participated online, 34% F2F). The primary goal of our research was to evaluate to what extent students established rapport with NAO and to explore whether the quality of the rapport differed depending on the mode of participation (on the campus vs. online). The study was conducted with students in the Agile Project Management course in their third semester of Digital Business (B. Sc.). The robot-led scenario was designed as Daily Scrum, which is a 15-minute meeting held by teams using the Scrum framework. NAO was programmed using Choregraphe and Python to facilitate the Daily Scrum as the Scrum Master, whose task was to help students learn how to keep a daily scrum.Building rapport with NAO was assessed using the rapport scale by Gratch, et al. (2007), which was already applied in studies with robotic embodied agents. This scale builds on research revealing the potential of embodied agents to establish rapport and familiarity with humans through verbal and nonverbal behaviour. Additionally, students’ perceptions of the robot were measured using the Human-Robot Interaction Evaluation Scale (HRIES), which is used to evaluate how humans attribute human characteristics to robots (Spatola, et al., 2021). The results of the study indicate that students perceived NAO as a humanlike, anthropomorphic agent and that this perception positively affected student-robot rapport. Additionally, the paper explores the relationships between the rapport scores and the perception of students of key features of the robot including appearance, voice quality, pauses in speaking, pace of speaking, facial expression, movements of the body, head and hand, light effects and tactile interaction. Based on the findings, we discuss both our research contributions and practical implications for programming of humanoid, educational robots to enhance student-robot rapport as part of HRI.
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Cummins, Mark, and Paul Newman. "Accelerated appearance-only SLAM." In 2008 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2008. http://dx.doi.org/10.1109/robot.2008.4543473.

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Maddern, Will, Michael Milford, and Gordon Wyeth. "Continuous appearance-based trajectory SLAM." In 2011 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2011. http://dx.doi.org/10.1109/icra.2011.5979963.

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Holm, Preben H. S., Anders G. Buch, and Henrik G. Petersen. "Optimizing Visual Appearance used for Refinement of Object Poses." In Robotics and Applications. Calgary,AB,Canada: ACTAPRESS, 2011. http://dx.doi.org/10.2316/p.2011.740-015.

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Wulfmeier, Markus, Alex Bewley, and Ingmar Posner. "Addressing appearance change in outdoor robotics with adversarial domain adaptation." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. http://dx.doi.org/10.1109/iros.2017.8205961.

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Ranganathan, Ananth, and Frank Dellaert. "Data driven MCMC for Appearance-based Topological Mapping." In Robotics: Science and Systems 2005. Robotics: Science and Systems Foundation, 2005. http://dx.doi.org/10.15607/rss.2005.i.028.

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