In this paper, we present the preliminary concepts regarding the dynamic emotion-based human-robot collaboration in an assembly task in manufacturing. We employ an anthropomorphic robot with emotion display abilities to collaborate with a human for the assembly task. The human serves as a supervisor and a co-worker when collaborating with the robot for the task. We consider situations when ther...

Biped robots have specific dynamical constraints and stability problems which reduce significantly their motion range. In these conditions, motion planning used for mobile robots cannot be applied to biped robots. In this paper, the path planning problem is seen as finding a sequence of footholds in a 3D environment, keeping robot stability, motion continuity and working within the structural c...

facial expression. A disembodied voice would be a detriThis paper explores the expression of emotion in synment to a life-like quality of interaction that we would like thesized speech for an anthropomorphic robot. We have Kismet to have with people. Synchronized movements of adapted several key emotional correlates of human speech to the robot's speech synthesizer to allow the robot to speak t...

We present a unified approach to design robot control systems by means of nonlinear dynamical systems. The robot’s behavior is generated by evaluating differential equations for variables which parametrize the behavior. These differential equations are designed such that potential behavioral goals specify stable fixed points (attractors) of the behavioral variables. The strength of these attrac...

Hexapod walking robots have been widely addressed in the literature with a very large number of design and engineering solutions. However, specific design approaches and solutions are needed to cope with specific novel applications. This paper aims to address the design of a hexapod walking robot having exploration, architectonic survey, and maintenance of cultural heritage goods as its main ap...

Newly emerging robotics applications for domestic or entertainment purposes are slowly introducing autonomous robots into society at large. A critical capability of such robots is their ability to interact with humans, and in particular, untrained users. In this paper we explore the hypothesis that people will intuitively interact with robots in a natural social manner provided the robot can pe...

The Problem: This work explores socially situated learning by exploiting the types of interaction that arise between a nurturing caretaker and an immature learner. Here, the learner is an anthropomorphic robotic platform. Its primary sensory inputs include vision, audition, and joint rotation of its degrees of freedom. Its outputs include vocalizations, head and eye orientation, and facial expr...

When building computational artifacts that are capable of social relationships with human, it is desirable for these artifacts to possess a human form like those of humanoids, bipedal robots and anthropomorphic agents. If these artifacts appear human-like, they can display nonverbal social interaction cues. In particular, physically embodied artifacts such as bipedal robots can use the nonverba...

The aim of this paper is to emphasize the interaction which should exist between the domains involved in the study of bipedal locomotion, and the limits of this interaction. These domains can be divided into two main fields depending whether they are concerned with living beings or with artificial structures. The project BIP of INRIA has developed an anthropomorphic mechanical biped machine aim...