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Planification et contrôle de mouvements en interaction avec l'homme. Reasoning about space for human-robot interaction

Abstract : Human Robot Interaction is a research area that is growing exponentially in last years. This fact brings new challenges to the robot's geometric reasoning and space sharing abilities. The robot should not only reason on its own capacities but also consider the actual situation by looking from human's eyes, thus "putting itself into human's perspective". In humans, the "visual perspective taking" ability begins to appear by 24 months of age and is used to determine if another person can see an object or not. The implementation of this kind of social abilities will improve the robot's cognitive capabilities and will help the robot to perform a better interaction with human beings. In this work, we present a geometric spatial reasoning mechanism that employs psycho- logical concepts of "perspective taking" and "mental rotation" in two general frameworks: - Motion planning for human-robot interaction: where the robot uses "egocentric perspec- tive taking" to evaluate several configurations where the robot is able to perform different tasks of interaction. - A face-to-face human-robot interaction: where the robot uses perspective taking of the human as a geometric tool to understand the human attention and intention in order to perform cooperative tasks.
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https://tel.archives-ouvertes.fr/tel-00468918
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Submitted on : Thursday, April 1, 2010 - 9:24:55 AM
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  • HAL Id : tel-00468918, version 1

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Luis Felipe Marin-Urias. Planification et contrôle de mouvements en interaction avec l'homme. Reasoning about space for human-robot interaction. Automatic. Université Paul Sabatier - Toulouse III, 2009. English. ⟨tel-00468918⟩

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