Detail Cantuman

ChiCaRo: tele-presence robot for interacting with babies and toddlers‡
Kasumi Abea,b,c, Masahiro Shiomia, Yachao Peib, Tingyi Zhang b, Narumitsu Ikedad and Takayuki Nagaib
aAtR-iRc, Kyoto, Japan; bthe University of electro-communications, tokyo, Japan; cJsPs, tokyo, Japan; dthe University of tokyo, tokyo, Japan
ABSTRACT
The progress of super-aging societies is decreasing opportunities for interaction between grandparents and grandchildren due to increased nuclear families. This paper reports a telepresence robot named ChiCaRo, which is designed to promote interaction with babies/toddlers and encourage remote communication between grandparents and grandchildren. We experimentally
investigated ChiCaRo’s social acceptance with 17 adults and 19 children in a play room environment. The adult participants evaluated ChiCaRo highly in the context of remote interaction with their children. Next, we conducted fild trials in real-home environments with three nuclear families and their grandparents who operated ChiCaRo to investigate its effctiveness. After one-week fild trials, the grandparents reported that ChiCaRo encouraged both interaction with their grandchildren and supplemented childcare, e.g. watching babies/toddlers instead of their parents.
KEYWORDS
child–robot interaction; telepresence; childcare

Constructive u nderstanding and reproduction of functions of gluteus medius y using a musculoskeletal walking robot
Hirofumi S hin, Shuhei Ikemoto and K oh Hosoda
Graduate School of Engineering Science, O saka University, O saka, J apan
ABSTRACT
Several factors affect the p erformance o f humanoid walking. One f actor is t he complex nature of lower limbs, especially the muscles around the p elvis that contribute s ignificantly t o t he stability and adaptivity of humanoid locomotion. The s ignificance of this muscle g roup assures a impact on the facility o f walking robots once t he nature of its contribution is understood, and it can be replicated on robots. To propose a mechanical structure t hat f acilitates walking in robots, we realized a muscle by modeling its pelvis region like t hat o f a humanoid and developing a musculoskeletal humanoid r obot. Especially, we focused on the g luteus medius, which is important for the g eneral stability against frontal movements of the h ip. Furthermore, it passively changes its influence on such motions; t his is helpful during t he different phases o f locomotion. These changes d epend o n t he alignment of the pelvis and f emur. W e confirmed the viability o f t he robotic gluteus m edius, which was simplified to a model o f t wo partial muscles by accomplishing the walking using t his r obot. This accomplishment v e r i fi e s o u r h y p o t h e s i s t h a t u s i n g t h i s m o d e l , t h e s u p p o r t i n g f u n c t i o n a l i t y f o r t h e lo c o m o t i o n o f t h e muscle can be reproduced and enhances the b iological p lausibility.
KEYWORDS
Pelvis structure; gluteus medius; t hree-dimensional b i p e d w a l k i n g ; h u m a n o i d r o b o t ; M c K i b b e n p n e u m a t i c a r t i fi c i a l m u s c l e

Constructive u nderstanding and reproduction of functions of gluteus medius b y using a musculoskeletal w alking r obot
Hirofumi S hin, Shuhei Ikemoto and K oh Hosoda
Graduate School of Engineering Science, O saka University, O saka, J apan
ABSTRACT
Several factors affect the p erformance o f humanoid walking. One f actor is t he complex nature of lower limbs, especially the muscles around the p elvis that contribute s ignificantly t o t he stability and adaptivity of humanoid locomotion. The s ignificance of this muscle g roup assures a impact on the facility o f walking robots once t he nature of its contribution is understood, and it can be replicated on robots. To propose a mechanical structure t hat f acilitates walking in robots, we realized a muscle b y modeling its pelvis region like t hat o f a humanoid and developing a musculoskeletal humanoid r obot. Especially, we focused on the g luteus medius, which is important for the g eneral stability against frontal movements of the h ip. Furthermore, it passively changes its influence on such motions; t his is helpful during t he different phases o f locomotion. These changes d epend o n t he alignment of the pelvis and f emur. W e confirmed the viability o f t he robotic gluteus m edius, which was simplified to a model o f t wo partial muscles by accomplishing the walking using t his r obot. This accomplishment v e r i fi e s o u r h y p o t h e s i s t h a t u s i n g t h i s m o d e l , t h e s u p p o r t i n g f u n c t i o n a l i t y f o r t h e lo c o m o t i o n o f t h e muscle can be reproduced and enhances the b iological p lausibility.
KEYWORDS
Pelvis structure; gluteus medius; t hree-dimensional b i p e d w a l k i n g ; h u m a n o i d r o b o t ; M c K i b b e n p n e u m a t i c a r t i fi c i a l m u s c l e

Point-to-hyperplane ICP: fusing different metric measurements for pose
estimation
Fernando I . I reta Muñoz and Andrew I . Comport
CNRS, I3S, U niversité Côte d’Azur, Sophia A ntipolis, France
ABSTRACT
The objective of this article is t o p rovide a g eneralized framework o f a novel method that investigates t h e p r o b l e m o f c o m b i n i n g a n d f u s i n g d i ff e r e n t t y p e s o f m e a s u r e m e n t s f o r p o s e es t i m a t i o n . T h e proposed method allows to jointly m inimize t he different metric errors as a s ingle m easurement vector in n-dimensions without requiring a scaling factor to tune their importance. This paper is an extended version of previous works that introduced the Point-to-hyperplane Iterative Closest Point (ICP) approach. In this approach, an increased convergence domain and a faster alignment
were demonstrated by considering a four-dimensional measurement vector (3D Euclidean points + Intensity). The method has the advantages of the classic point-to-plane ICP method, but extends this to higher dimensions. For demonstration purposes, this paper will focus on a RGB-D sensor that provides colour and depth measurements simultaneously and an optimal error in higher dimensions will be minimized from this. Results on both, simulated and real environments will be provided and the performance of the proposed method will be carried on real-time visual SLAM.
KEYWORDS
P o i n t - t o - h y p e r p l a n e ; v i s u a l odometry; RGB-D p ose estimation; v isual SLAM